+ [ 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/51979b48-5a91-d8d6-f46f-9dd3f9e5a34e
2026-07-16T03:22:47 - INFO: MSIP3D 0.2.8
2026-07-16T03:22:47 - INFO: P3D files will be output to /working/51979b48-5a91-d8d6-f46f-9dd3f9e5a34e/51979b48-5a91-d8d6-f46f-9dd3f9e5a34e
2026-07-16T03:22:47 - INFO: Found 10 TFD dictionary entries
2026-07-16T03:22:47 - INFO: Found TFD mission for 1661SS
2026-07-16T03:22:47 - INFO: Recording will be processed as MD
2026-07-16T03:22:47 - INFO: Copying assets JSON to output directory...
2026-07-16T03:22:47 - INFO: Preparing counter data...
2026-07-16T03:22:47 - INFO: Interpreting counter as imperial
2026-07-16T03:22:47 - INFO: Preparing size track from assets JSON...
2026-07-16T03:22:47 - INFO: Preparing shape track from assets JSON...
2026-07-16T03:22:47 - INFO: Preparing material track from assets JSON...
2026-07-16T03:22:47 - INFO: Prepared counter data in 0.0930 s
2026-07-16T03:22:47 - INFO: Extracting sonar data...
TFD path: /working/51979b48-5a91-d8d6-f46f-9dd3f9e5a34e/tfd/1661SS.tfd
TFD path: /working/51979b48-5a91-d8d6-f46f-9dd3f9e5a34e/tfd/output
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012080331585573559
Name: LASER, Tag: 4855215965616818764
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855215965616818755
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Getting track SONAR
Number of frames: 5153
22 / 5153 [>___________________________________________________________________________] 0.43% ? p/s45 / 5153 [>___________________________________________________________________________] 0.87% ? p/s68 / 5153 [->__________________________________________________________________________] 1.32% ? p/s91 / 5153 [->________________________________________________________________________] 1.77% 115 p/s115 / 5153 [->_______________________________________________________________________] 2.23% 115 p/s135 / 5153 [->_______________________________________________________________________] 2.62% 115 p/s157 / 5153 [-->______________________________________________________________________] 3.05% 115 p/s178 / 5153 [-->______________________________________________________________________] 3.45% 115 p/s200 / 5153 [-->______________________________________________________________________] 3.88% 115 p/s222 / 5153 [--->_____________________________________________________________________] 4.31% 114 p/s243 / 5153 [--->_____________________________________________________________________] 4.72% 114 p/s265 / 5153 [--->_____________________________________________________________________] 5.14% 114 p/s287 / 5153 [---->____________________________________________________________________] 5.57% 114 p/s310 / 5153 [---->____________________________________________________________________] 6.02% 114 p/s332 / 5153 [---->____________________________________________________________________] 6.44% 114 p/s354 / 5153 [----->___________________________________________________________________] 6.87% 114 p/s376 / 5153 [----->___________________________________________________________________] 7.30% 114 p/s398 / 5153 [----->___________________________________________________________________] 7.72% 114 p/s420 / 5153 [----->___________________________________________________________________] 8.15% 114 p/s442 / 5153 [------>__________________________________________________________________] 8.58% 114 p/s464 / 5153 [------>__________________________________________________________________] 9.00% 114 p/s486 / 5153 [------>__________________________________________________________________] 9.43% 113 p/s508 / 5153 [------->_________________________________________________________________] 9.86% 113 p/s529 / 5153 [------->________________________________________________________________] 10.27% 113 p/s551 / 5153 [------->________________________________________________________________] 10.69% 113 p/s573 / 5153 [-------->_______________________________________________________________] 11.12% 113 p/s595 / 5153 [-------->_______________________________________________________________] 11.55% 113 p/s617 / 5153 [-------->_______________________________________________________________] 11.97% 113 p/s639 / 5153 [-------->_______________________________________________________________] 12.40% 113 p/s661 / 5153 [--------->______________________________________________________________] 12.83% 113 p/s683 / 5153 [--------->______________________________________________________________] 13.25% 113 p/s705 / 5153 [--------->______________________________________________________________] 13.68% 113 p/s727 / 5153 [---------->_____________________________________________________________] 14.11% 113 p/s749 / 5153 [---------->_____________________________________________________________] 14.54% 112 p/s771 / 5153 [---------->_____________________________________________________________] 14.96% 112 p/s793 / 5153 [----------->____________________________________________________________] 15.39% 112 p/s816 / 5153 [----------->____________________________________________________________] 15.84% 112 p/s838 / 5153 [----------->____________________________________________________________] 16.26% 112 p/s860 / 5153 [------------>___________________________________________________________] 16.69% 112 p/s882 / 5153 [------------>___________________________________________________________] 17.12% 112 p/s905 / 5153 [------------>___________________________________________________________] 17.56% 112 p/s927 / 5153 [------------>___________________________________________________________] 17.99% 112 p/s950 / 5153 [------------->__________________________________________________________] 18.44% 112 p/s972 / 5153 [------------->__________________________________________________________] 18.86% 112 p/s994 / 5153 [------------->__________________________________________________________] 19.29% 112 p/s1016 / 5153 [------------->_________________________________________________________] 19.72% 112 p/s1038 / 5153 [-------------->________________________________________________________] 20.14% 112 p/s1060 / 5153 [-------------->________________________________________________________] 20.57% 112 p/s1082 / 5153 [-------------->________________________________________________________] 21.00% 112 p/s1104 / 5153 [--------------->_______________________________________________________] 21.42% 112 p/s1126 / 5153 [--------------->_______________________________________________________] 21.85% 112 p/s1149 / 5153 [--------------->_______________________________________________________] 22.30% 112 p/s1171 / 5153 [---------------->______________________________________________________] 22.72% 112 p/s1193 / 5153 [---------------->______________________________________________________] 23.15% 112 p/s1216 / 5153 [---------------->______________________________________________________] 23.60% 112 p/s1238 / 5153 [----------------->_____________________________________________________] 24.02% 112 p/s1261 / 5153 [----------------->_____________________________________________________] 24.47% 112 p/s1283 / 5153 [----------------->_____________________________________________________] 24.90% 112 p/s1305 / 5153 [----------------->_____________________________________________________] 25.33% 112 p/s1328 / 5153 [------------------>____________________________________________________] 25.77% 112 p/s1350 / 5153 [------------------>____________________________________________________] 26.20% 112 p/s1372 / 5153 [------------------>____________________________________________________] 26.63% 112 p/s1395 / 5153 [------------------->___________________________________________________] 27.07% 112 p/s1417 / 5153 [------------------->___________________________________________________] 27.50% 112 p/s1439 / 5153 [------------------->___________________________________________________] 27.93% 112 p/s1462 / 5153 [-------------------->__________________________________________________] 28.37% 112 p/s1484 / 5153 [-------------------->__________________________________________________] 28.80% 112 p/s1506 / 5153 [-------------------->__________________________________________________] 29.23% 112 p/s1529 / 5153 [--------------------->_________________________________________________] 29.67% 112 p/s1551 / 5153 [--------------------->_________________________________________________] 30.10% 112 p/s1573 / 5153 [--------------------->_________________________________________________] 30.53% 112 p/s1595 / 5153 [--------------------->_________________________________________________] 30.95% 112 p/s1617 / 5153 [---------------------->________________________________________________] 31.38% 112 p/s1640 / 5153 [---------------------->________________________________________________] 31.83% 112 p/s1662 / 5153 [---------------------->________________________________________________] 32.25% 112 p/s1684 / 5153 [----------------------->_______________________________________________] 32.68% 112 p/s1707 / 5153 [----------------------->_______________________________________________] 33.13% 112 p/s1729 / 5153 [----------------------->_______________________________________________] 33.55% 112 p/s1751 / 5153 [------------------------>______________________________________________] 33.98% 112 p/s1774 / 5153 [------------------------>______________________________________________] 34.43% 112 p/s1796 / 5153 [------------------------>______________________________________________] 34.85% 112 p/s1818 / 5153 [------------------------->_____________________________________________] 35.28% 112 p/s1840 / 5153 [------------------------->_____________________________________________] 35.71% 112 p/s1862 / 5153 [------------------------->_____________________________________________] 36.13% 112 p/s1885 / 5153 [------------------------->_____________________________________________] 36.58% 112 p/s1907 / 5153 [-------------------------->____________________________________________] 37.01% 112 p/s1929 / 5153 [-------------------------->____________________________________________] 37.43% 112 p/s1951 / 5153 [-------------------------->____________________________________________] 37.86% 112 p/s1974 / 5153 [--------------------------->___________________________________________] 38.31% 112 p/s1996 / 5153 [--------------------------->___________________________________________] 38.73% 112 p/s2018 / 5153 [--------------------------->___________________________________________] 39.16% 112 p/s2040 / 5153 [---------------------------->__________________________________________] 39.59% 112 p/s2062 / 5153 [---------------------------->__________________________________________] 40.02% 112 p/s2085 / 5153 [---------------------------->__________________________________________] 40.46% 112 p/s2107 / 5153 [----------------------------->_________________________________________] 40.89% 112 p/s2129 / 5153 [----------------------------->_________________________________________] 41.32% 112 p/s2152 / 5153 [----------------------------->_________________________________________] 41.76% 112 p/s2174 / 5153 [----------------------------->_________________________________________] 42.19% 112 p/s2197 / 5153 [------------------------------>________________________________________] 42.64% 112 p/s2219 / 5153 [------------------------------>________________________________________] 43.06% 112 p/s2241 / 5153 [------------------------------>________________________________________] 43.49% 112 p/s2264 / 5153 [------------------------------->_______________________________________] 43.94% 112 p/s2286 / 5153 [------------------------------->_______________________________________] 44.36% 112 p/s2309 / 5153 [------------------------------->_______________________________________] 44.81% 112 p/s2331 / 5153 [-------------------------------->______________________________________] 45.24% 112 p/s2353 / 5153 [-------------------------------->______________________________________] 45.66% 112 p/s2376 / 5153 [-------------------------------->______________________________________] 46.11% 112 p/s2398 / 5153 [--------------------------------->_____________________________________] 46.54% 112 p/s2420 / 5153 [--------------------------------->_____________________________________] 46.96% 112 p/s2442 / 5153 [--------------------------------->_____________________________________] 47.39% 112 p/s2465 / 5153 [--------------------------------->_____________________________________] 47.84% 112 p/s2487 / 5153 [---------------------------------->____________________________________] 48.26% 112 p/s2509 / 5153 [---------------------------------->____________________________________] 48.69% 112 p/s2532 / 5153 [---------------------------------->____________________________________] 49.14% 112 p/s2554 / 5153 [----------------------------------->___________________________________] 49.56% 112 p/s2576 / 5153 [----------------------------------->___________________________________] 49.99% 112 p/s2599 / 5153 [----------------------------------->___________________________________] 50.44% 112 p/s2621 / 5153 [------------------------------------>__________________________________] 50.86% 112 p/s2643 / 5153 [------------------------------------>__________________________________] 51.29% 112 p/s2666 / 5153 [------------------------------------>__________________________________] 51.74% 112 p/s2688 / 5153 [------------------------------------->_________________________________] 52.16% 112 p/s2710 / 5153 [------------------------------------->_________________________________] 52.59% 112 p/s2732 / 5153 [------------------------------------->_________________________________] 53.02% 112 p/s2755 / 5153 [------------------------------------->_________________________________] 53.46% 112 p/s2778 / 5153 [-------------------------------------->________________________________] 53.91% 112 p/s2801 / 5153 [-------------------------------------->________________________________] 54.36% 112 p/s2823 / 5153 [-------------------------------------->________________________________] 54.78% 112 p/s2846 / 5153 [--------------------------------------->_______________________________] 55.23% 112 p/s2869 / 5153 [--------------------------------------->_______________________________] 55.68% 112 p/s2891 / 5153 [--------------------------------------->_______________________________] 56.10% 112 p/s2914 / 5153 [---------------------------------------->______________________________] 56.55% 112 p/s2937 / 5153 [---------------------------------------->______________________________] 57.00% 112 p/s2960 / 5153 [---------------------------------------->______________________________] 57.44% 112 p/s2983 / 5153 [----------------------------------------->_____________________________] 57.89% 112 p/s3006 / 5153 [----------------------------------------->_____________________________] 58.33% 112 p/s3029 / 5153 [----------------------------------------->_____________________________] 58.78% 112 p/s3052 / 5153 [------------------------------------------>____________________________] 59.23% 112 p/s3075 / 5153 [------------------------------------------>____________________________] 59.67% 112 p/s3098 / 5153 [------------------------------------------>____________________________] 60.12% 112 p/s3121 / 5153 [------------------------------------------->___________________________] 60.57% 112 p/s3144 / 5153 [------------------------------------------->___________________________] 61.01% 112 p/s3166 / 5153 [------------------------------------------->___________________________] 61.44% 112 p/s3189 / 5153 [------------------------------------------->___________________________] 61.89% 112 p/s3212 / 5153 [-------------------------------------------->__________________________] 62.33% 112 p/s3234 / 5153 [-------------------------------------------->__________________________] 62.76% 113 p/s3257 / 5153 [-------------------------------------------->__________________________] 63.21% 113 p/s3280 / 5153 [--------------------------------------------->_________________________] 63.65% 113 p/s3303 / 5153 [--------------------------------------------->_________________________] 64.10% 113 p/s3326 / 5153 [--------------------------------------------->_________________________] 64.54% 113 p/s3349 / 5153 [---------------------------------------------->________________________] 64.99% 113 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p/s3598 / 5153 [------------------------------------------------->_____________________] 69.82% 113 p/s3621 / 5153 [------------------------------------------------->_____________________] 70.27% 113 p/s3644 / 5153 [-------------------------------------------------->____________________] 70.72% 113 p/s3667 / 5153 [-------------------------------------------------->____________________] 71.16% 113 p/s3690 / 5153 [-------------------------------------------------->____________________] 71.61% 113 p/s3712 / 5153 [--------------------------------------------------->___________________] 72.04% 113 p/s3735 / 5153 [--------------------------------------------------->___________________] 72.48% 113 p/s3758 / 5153 [--------------------------------------------------->___________________] 72.93% 113 p/s3781 / 5153 [---------------------------------------------------->__________________] 73.37% 113 p/s3804 / 5153 [---------------------------------------------------->__________________] 73.82% 113 p/s3827 / 5153 [---------------------------------------------------->__________________] 74.27% 113 p/s3850 / 5153 [----------------------------------------------------->_________________] 74.71% 113 p/s3872 / 5153 [----------------------------------------------------->_________________] 75.14% 113 p/s3895 / 5153 [----------------------------------------------------->_________________] 75.59% 113 p/s3918 / 5153 [----------------------------------------------------->_________________] 76.03% 113 p/s3941 / 5153 [------------------------------------------------------>________________] 76.48% 113 p/s3964 / 5153 [------------------------------------------------------>________________] 76.93% 113 p/s3986 / 5153 [------------------------------------------------------>________________] 77.35% 113 p/s4009 / 5153 [------------------------------------------------------->_______________] 77.80% 113 p/s4032 / 5153 [------------------------------------------------------->_______________] 78.25% 113 p/s4055 / 5153 [------------------------------------------------------->_______________] 78.69% 113 p/s4078 / 5153 [-------------------------------------------------------->______________] 79.14% 113 p/s4100 / 5153 [-------------------------------------------------------->______________] 79.57% 113 p/s4123 / 5153 [-------------------------------------------------------->______________] 80.01% 113 p/s4146 / 5153 [--------------------------------------------------------->_____________] 80.46% 113 p/s4169 / 5153 [--------------------------------------------------------->_____________] 80.90% 113 p/s4192 / 5153 [--------------------------------------------------------->_____________] 81.35% 113 p/s4215 / 5153 [---------------------------------------------------------->____________] 81.80% 113 p/s4238 / 5153 [---------------------------------------------------------->____________] 82.24% 113 p/s4261 / 5153 [---------------------------------------------------------->____________] 82.69% 114 p/s4284 / 5153 [----------------------------------------------------------->___________] 83.14% 114 p/s4307 / 5153 [----------------------------------------------------------->___________] 83.58% 114 p/s4329 / 5153 [----------------------------------------------------------->___________] 84.01% 114 p/s4352 / 5153 [----------------------------------------------------------->___________] 84.46% 114 p/s4375 / 5153 [------------------------------------------------------------>__________] 84.90% 114 p/s4398 / 5153 [------------------------------------------------------------>__________] 85.35% 114 p/s4421 / 5153 [------------------------------------------------------------>__________] 85.79% 114 p/s4444 / 5153 [------------------------------------------------------------->_________] 86.24% 114 p/s4467 / 5153 [------------------------------------------------------------->_________] 86.69% 114 p/s4490 / 5153 [------------------------------------------------------------->_________] 87.13% 114 p/s4512 / 5153 [-------------------------------------------------------------->________] 87.56% 114 p/s4535 / 5153 [-------------------------------------------------------------->________] 88.01% 114 p/s4558 / 5153 [-------------------------------------------------------------->________] 88.45% 114 p/s4581 / 5153 [--------------------------------------------------------------->_______] 88.90% 114 p/s4604 / 5153 [--------------------------------------------------------------->_______] 89.35% 114 p/s4627 / 5153 [--------------------------------------------------------------->_______] 89.79% 114 p/s4649 / 5153 [---------------------------------------------------------------->______] 90.22% 114 p/s4672 / 5153 [---------------------------------------------------------------->______] 90.67% 114 p/s4696 / 5153 [---------------------------------------------------------------->______] 91.13% 114 p/s4718 / 5153 [----------------------------------------------------------------->_____] 91.56% 114 p/s4741 / 5153 [----------------------------------------------------------------->_____] 92.00% 114 p/s4764 / 5153 [----------------------------------------------------------------->_____] 92.45% 114 p/s4787 / 5153 [----------------------------------------------------------------->_____] 92.90% 114 p/s4810 / 5153 [------------------------------------------------------------------>____] 93.34% 114 p/s4833 / 5153 [------------------------------------------------------------------>____] 93.79% 114 p/s4856 / 5153 [------------------------------------------------------------------>____] 94.24% 114 p/s4879 / 5153 [------------------------------------------------------------------->___] 94.68% 114 p/s4902 / 5153 [------------------------------------------------------------------->___] 95.13% 114 p/s4925 / 5153 [------------------------------------------------------------------->___] 95.58% 114 p/s4948 / 5153 [-------------------------------------------------------------------->__] 96.02% 114 p/s4972 / 5153 [-------------------------------------------------------------------->__] 96.49% 114 p/s4995 / 5153 [-------------------------------------------------------------------->__] 96.93% 114 p/s5017 / 5153 [--------------------------------------------------------------------->_] 97.36% 114 p/s5040 / 5153 [--------------------------------------------------------------------->_] 97.81% 114 p/s5062 / 5153 [--------------------------------------------------------------------->_] 98.23% 114 p/s5085 / 5153 [---------------------------------------------------------------------->] 98.68% 114 p/s5107 / 5153 [---------------------------------------------------------------------->] 99.11% 114 p/s5130 / 5153 [---------------------------------------------------------------------->] 99.55% 114 p/s5152 / 5153 [---------------------------------------------------------------------->] 99.98% 114 p/s5153 / 5153 [----------------------------------------------------------------------] 100.00% 113 p/s2026-07-16T03:23:33 - INFO: Parsing 5153 sonar sweeps from /working/51979b48-5a91-d8d6-f46f-9dd3f9e5a34e/tfd/output/SONAR/all-sweeps-info.csv...

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2026-07-16T03:26:47 - 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/51979b48-5a91-d8d6-f46f-9dd3f9e5a34e/51979b48-5a91-d8d6-f46f-9dd3f9e5a34e"
2026-07-16T03:26:48 - INFO: DataPrep 0.14.7
2026-07-16T03:26:48 - INFO: Prepared data will be output to /working/51979b48-5a91-d8d6-f46f-9dd3f9e5a34e/51979b48-5a91-d8d6-f46f-9dd3f9e5a34e/processing/data
2026-07-16T03:26:48 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-16T03:26:48 - deployment - INFO: Detected P3D version: P3D_1
2026-07-16T03:26:48 - INFO: Recording GUID: 51979b48-5a91-d8d6-f46f-9dd3f9e5a34e
2026-07-16T03:26:48 - INFO: Preparing sonar data...
2026-07-16T03:26:48 - INFO: /working/51979b48-5a91-d8d6-f46f-9dd3f9e5a34e/51979b48-5a91-d8d6-f46f-9dd3f9e5a34e/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-16T03:26:53 - INFO: Sonar epoch is 2026-02-20 14:02:42.166236+00:00 (1771596162166235655)
2026-07-16T03:26:53 - INFO: Creating sonar sensor alignment track...
2026-07-16T03:26:53 - INFO: Using sonar rotation of 0.261799 radians for wedge mask
2026-07-16T03:26:53 - INFO: Sensor speed of sound is 1500 m/s
2026-07-16T03:26:53 - INFO: Sensor range is 0.722400 m
2026-07-16T03:26:53 - INFO: Sensor micrometres per sample is 2400.000032
2026-07-16T03:26:53 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-16T03:26:53 - INFO: Scaled range is 0.719746 m
2026-07-16T03:26:53 - INFO: Scaled micrometres per sample is 2391.181774
2026-07-16T03:26:53 - INFO: Processing 5153 sweeps...

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2026-07-16T03:27:08 - INFO: Prepared sonar data in 19.2609 s
2026-07-16T03:27:08 - INFO: No IMU data found
2026-07-16T03:27:08 - INFO: DataPrep took 0:00:19.864973
2026-07-16T03:27:08 - INFO: Extracted sonar data in 0:04:21.359039
2026-07-16T03:27:09 - INFO: MSIP3D took 0:04:21.909490