+ [ 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/9e4fec19-8b34-1f52-b9ff-b5f8d973b31c
2026-07-16T03:24:43 - INFO: MSIP3D 0.2.8
2026-07-16T03:24:43 - INFO: P3D files will be output to /working/9e4fec19-8b34-1f52-b9ff-b5f8d973b31c/9e4fec19-8b34-1f52-b9ff-b5f8d973b31c
2026-07-16T03:24:43 - INFO: Found 10 TFD dictionary entries
2026-07-16T03:24:43 - INFO: Found TFD mission for 1663SS
2026-07-16T03:24:43 - INFO: Recording will be processed as MD
2026-07-16T03:24:43 - INFO: Copying assets JSON to output directory...
2026-07-16T03:24:43 - INFO: Preparing counter data...
2026-07-16T03:24:43 - INFO: Interpreting counter as imperial
2026-07-16T03:24:43 - INFO: Preparing size track from assets JSON...
2026-07-16T03:24:43 - INFO: Preparing shape track from assets JSON...
2026-07-16T03:24:43 - INFO: Preparing material track from assets JSON...
2026-07-16T03:24:43 - INFO: Prepared counter data in 0.0274 s
2026-07-16T03:24:43 - INFO: Extracting sonar data...
TFD path: /working/9e4fec19-8b34-1f52-b9ff-b5f8d973b31c/tfd/1663SS.tfd
TFD path: /working/9e4fec19-8b34-1f52-b9ff-b5f8d973b31c/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: CCTV, Tag: 4855215965616818755
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: LASER, Tag: 4855215965616818764
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 2007
19 / 2007 [>___________________________________________________________________________] 0.95% ? p/s41 / 2007 [->__________________________________________________________________________] 2.04% ? p/s63 / 2007 [-->_________________________________________________________________________] 3.14% ? p/s85 / 2007 [--->______________________________________________________________________] 4.24% 110 p/s108 / 2007 [--->_____________________________________________________________________] 5.38% 110 p/s129 / 2007 [---->____________________________________________________________________] 6.43% 110 p/s152 / 2007 [----->___________________________________________________________________] 7.57% 110 p/s174 / 2007 [------>__________________________________________________________________] 8.67% 110 p/s197 / 2007 [------->_________________________________________________________________] 9.82% 110 p/s219 / 2007 [------->________________________________________________________________] 10.91% 110 p/s242 / 2007 [-------->_______________________________________________________________] 12.06% 110 p/s263 / 2007 [--------->______________________________________________________________] 13.10% 110 p/s286 / 2007 [---------->_____________________________________________________________] 14.25% 110 p/s309 / 2007 [----------->____________________________________________________________] 15.40% 110 p/s331 / 2007 [----------->____________________________________________________________] 16.49% 110 p/s354 / 2007 [------------>___________________________________________________________] 17.64% 110 p/s377 / 2007 [------------->__________________________________________________________] 18.78% 110 p/s399 / 2007 [-------------->_________________________________________________________] 19.88% 110 p/s422 / 2007 [--------------->________________________________________________________] 21.03% 111 p/s444 / 2007 [--------------->________________________________________________________] 22.12% 111 p/s467 / 2007 [---------------->_______________________________________________________] 23.27% 111 p/s489 / 2007 [----------------->______________________________________________________] 24.36% 111 p/s511 / 2007 [------------------>_____________________________________________________] 25.46% 111 p/s534 / 2007 [------------------->____________________________________________________] 26.61% 111 p/s556 / 2007 [------------------->____________________________________________________] 27.70% 111 p/s578 / 2007 [-------------------->___________________________________________________] 28.80% 111 p/s600 / 2007 [--------------------->__________________________________________________] 29.90% 111 p/s623 / 2007 [---------------------->_________________________________________________] 31.04% 111 p/s646 / 2007 [----------------------->________________________________________________] 32.19% 111 p/s668 / 2007 [----------------------->________________________________________________] 33.28% 111 p/s691 / 2007 [------------------------>_______________________________________________] 34.43% 111 p/s713 / 2007 [------------------------->______________________________________________] 35.53% 111 p/s736 / 2007 [-------------------------->_____________________________________________] 36.67% 111 p/s758 / 2007 [--------------------------->____________________________________________] 37.77% 111 p/s780 / 2007 [--------------------------->____________________________________________] 38.86% 111 p/s803 / 2007 [---------------------------->___________________________________________] 40.01% 111 p/s825 / 2007 [----------------------------->__________________________________________] 41.11% 111 p/s848 / 2007 [------------------------------>_________________________________________] 42.25% 111 p/s871 / 2007 [------------------------------->________________________________________] 43.40% 111 p/s893 / 2007 [-------------------------------->_______________________________________] 44.49% 111 p/s916 / 2007 [-------------------------------->_______________________________________] 45.64% 111 p/s938 / 2007 [--------------------------------->______________________________________] 46.74% 111 p/s962 / 2007 [---------------------------------->_____________________________________] 47.93% 111 p/s985 / 2007 [----------------------------------->____________________________________] 49.08% 111 p/s1008 / 2007 [----------------------------------->___________________________________] 50.22% 111 p/s1030 / 2007 [------------------------------------>__________________________________] 51.32% 112 p/s1052 / 2007 [------------------------------------->_________________________________] 52.42% 112 p/s1075 / 2007 [-------------------------------------->________________________________] 53.56% 112 p/s1098 / 2007 [-------------------------------------->________________________________] 54.71% 112 p/s1120 / 2007 [--------------------------------------->_______________________________] 55.80% 112 p/s1143 / 2007 [---------------------------------------->______________________________] 56.95% 112 p/s1166 / 2007 [----------------------------------------->_____________________________] 58.10% 112 p/s1188 / 2007 [------------------------------------------>____________________________] 59.19% 112 p/s1211 / 2007 [------------------------------------------>____________________________] 60.34% 112 p/s1234 / 2007 [------------------------------------------->___________________________] 61.48% 112 p/s1256 / 2007 [-------------------------------------------->__________________________] 62.58% 112 p/s1279 / 2007 [--------------------------------------------->_________________________] 63.73% 112 p/s1301 / 2007 [---------------------------------------------->________________________] 64.82% 112 p/s1324 / 2007 [---------------------------------------------->________________________] 65.97% 112 p/s1347 / 2007 [----------------------------------------------->_______________________] 67.12% 112 p/s1369 / 2007 [------------------------------------------------>______________________] 68.21% 112 p/s1391 / 2007 [------------------------------------------------->_____________________] 69.31% 112 p/s1414 / 2007 [-------------------------------------------------->____________________] 70.45% 112 p/s1436 / 2007 [-------------------------------------------------->____________________] 71.55% 112 p/s1459 / 2007 [--------------------------------------------------->___________________] 72.70% 112 p/s1482 / 2007 [---------------------------------------------------->__________________] 73.84% 112 p/s1505 / 2007 [----------------------------------------------------->_________________] 74.99% 112 p/s1527 / 2007 [------------------------------------------------------>________________] 76.08% 112 p/s1550 / 2007 [------------------------------------------------------>________________] 77.23% 112 p/s1572 / 2007 [------------------------------------------------------->_______________] 78.33% 112 p/s1595 / 2007 [-------------------------------------------------------->______________] 79.47% 112 p/s1617 / 2007 [--------------------------------------------------------->_____________] 80.57% 112 p/s1640 / 2007 [---------------------------------------------------------->____________] 81.71% 112 p/s1663 / 2007 [---------------------------------------------------------->____________] 82.86% 112 p/s1685 / 2007 [----------------------------------------------------------->___________] 83.96% 112 p/s1709 / 2007 [------------------------------------------------------------>__________] 85.15% 112 p/s1732 / 2007 [------------------------------------------------------------->_________] 86.30% 112 p/s1755 / 2007 [-------------------------------------------------------------->________] 87.44% 112 p/s1778 / 2007 [-------------------------------------------------------------->________] 88.59% 113 p/s1801 / 2007 [--------------------------------------------------------------->_______] 89.74% 113 p/s1824 / 2007 [---------------------------------------------------------------->______] 90.88% 113 p/s1848 / 2007 [----------------------------------------------------------------->_____] 92.08% 113 p/s1871 / 2007 [------------------------------------------------------------------>____] 93.22% 113 p/s1893 / 2007 [------------------------------------------------------------------>____] 94.32% 113 p/s1916 / 2007 [------------------------------------------------------------------->___] 95.47% 113 p/s1939 / 2007 [-------------------------------------------------------------------->__] 96.61% 113 p/s1962 / 2007 [--------------------------------------------------------------------->_] 97.76% 113 p/s1985 / 2007 [---------------------------------------------------------------------->] 98.90% 113 p/s2007 / 2007 [----------------------------------------------------------------------] 100.00% 114 p/s2026-07-16T03:25:01 - INFO: Parsing 2007 sonar sweeps from /working/9e4fec19-8b34-1f52-b9ff-b5f8d973b31c/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/2007 [00:00<?, ?it/s]
  0%|          | 3/2007 [00:00<01:15, 26.70it/s]
  0%|          | 6/2007 [00:00<01:13, 27.23it/s]
  0%|          | 9/2007 [00:00<01:12, 27.44it/s]
  1%|          | 12/2007 [00:00<01:12, 27.51it/s]
  1%|          | 15/2007 [00:00<01:12, 27.52it/s]
  1%|          | 18/2007 [00:00<01:12, 27.57it/s]
  1%|          | 21/2007 [00:00<01:11, 27.65it/s]
  1%|          | 24/2007 [00:00<01:12, 27.40it/s]
  1%|▏         | 27/2007 [00:00<01:12, 27.46it/s]
  1%|▏         | 30/2007 [00:01<01:11, 27.50it/s]
  2%|▏         | 33/2007 [00:01<01:11, 27.54it/s]
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  3%|▎         | 51/2007 [00:01<01:11, 27.17it/s]
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  4%|▎         | 72/2007 [00:02<01:10, 27.51it/s]
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2026-07-16T03:26:14 - 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/9e4fec19-8b34-1f52-b9ff-b5f8d973b31c/9e4fec19-8b34-1f52-b9ff-b5f8d973b31c"
2026-07-16T03:26:16 - INFO: DataPrep 0.14.7
2026-07-16T03:26:16 - INFO: Prepared data will be output to /working/9e4fec19-8b34-1f52-b9ff-b5f8d973b31c/9e4fec19-8b34-1f52-b9ff-b5f8d973b31c/processing/data
2026-07-16T03:26:16 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-16T03:26:16 - deployment - INFO: Detected P3D version: P3D_1
2026-07-16T03:26:16 - INFO: Recording GUID: 9e4fec19-8b34-1f52-b9ff-b5f8d973b31c
2026-07-16T03:26:16 - INFO: Preparing sonar data...
2026-07-16T03:26:16 - INFO: /working/9e4fec19-8b34-1f52-b9ff-b5f8d973b31c/9e4fec19-8b34-1f52-b9ff-b5f8d973b31c/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-16T03:26:18 - INFO: Sonar epoch is 2026-02-19 18:37:54.821940+00:00 (1771526274821939978)
2026-07-16T03:26:18 - INFO: Creating sonar sensor alignment track...
2026-07-16T03:26:18 - INFO: Using sonar rotation of 0.244346 radians for wedge mask
2026-07-16T03:26:18 - INFO: Sensor speed of sound is 1500 m/s
2026-07-16T03:26:18 - INFO: Sensor range is 0.722400 m
2026-07-16T03:26:18 - INFO: Sensor micrometres per sample is 2400.000032
2026-07-16T03:26:18 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-16T03:26:18 - INFO: Scaled range is 0.719746 m
2026-07-16T03:26:18 - INFO: Scaled micrometres per sample is 2391.181774
2026-07-16T03:26:18 - INFO: Processing 2007 sweeps...

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 42%|████▏     | 836/2007 [00:01<00:02, 462.68sw/s]
 44%|████▍     | 893/2007 [00:01<00:02, 487.00sw/s]
 48%|████▊     | 964/2007 [00:01<00:01, 546.88sw/s]
 52%|█████▏    | 1034/2007 [00:02<00:01, 589.77sw/s]
 55%|█████▍    | 1102/2007 [00:02<00:01, 614.04sw/s]
 58%|█████▊    | 1170/2007 [00:02<00:01, 633.02sw/s]
 62%|██████▏   | 1238/2007 [00:02<00:01, 643.39sw/s]
 65%|██████▍   | 1303/2007 [00:02<00:01, 606.14sw/s]
 68%|██████▊   | 1365/2007 [00:02<00:01, 548.18sw/s]
 71%|███████   | 1423/2007 [00:02<00:01, 555.14sw/s]
 74%|███████▍  | 1491/2007 [00:02<00:00, 582.80sw/s]
 77%|███████▋  | 1551/2007 [00:02<00:00, 538.83sw/s]
 81%|████████  | 1625/2007 [00:03<00:00, 592.36sw/s]
 84%|████████▍ | 1686/2007 [00:03<00:00, 556.90sw/s]
 87%|████████▋ | 1756/2007 [00:03<00:00, 593.97sw/s]
 91%|█████████ | 1824/2007 [00:03<00:00, 616.20sw/s]
 94%|█████████▍| 1892/2007 [00:03<00:00, 633.61sw/s]
 98%|█████████▊| 1961/2007 [00:03<00:00, 647.70sw/s]
100%|██████████| 2007/2007 [00:03<00:00, 547.38sw/s]
2026-07-16T03:26:23 - INFO: Prepared sonar data in 6.5971 s
2026-07-16T03:26:23 - INFO: No IMU data found
2026-07-16T03:26:23 - INFO: DataPrep took 0:00:06.884877
2026-07-16T03:26:23 - INFO: Extracted sonar data in 0:01:39.474945
2026-07-16T03:26:23 - INFO: MSIP3D took 0:01:39.693282