+ [ 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/dbcc6178-5ce9-cc58-4507-41bd5f09d3ba
2026-07-16T03:24:03 - INFO: MSIP3D 0.2.8
2026-07-16T03:24:03 - INFO: P3D files will be output to /working/dbcc6178-5ce9-cc58-4507-41bd5f09d3ba/dbcc6178-5ce9-cc58-4507-41bd5f09d3ba
2026-07-16T03:24:03 - INFO: Found 10 TFD dictionary entries
2026-07-16T03:24:03 - INFO: Found TFD mission for 1708SS
2026-07-16T03:24:03 - INFO: Recording will be processed as MD
2026-07-16T03:24:03 - INFO: Copying assets JSON to output directory...
2026-07-16T03:24:03 - INFO: Preparing counter data...
2026-07-16T03:24:03 - INFO: Interpreting counter as imperial
2026-07-16T03:24:03 - INFO: Preparing size track from assets JSON...
2026-07-16T03:24:03 - INFO: Preparing shape track from assets JSON...
2026-07-16T03:24:03 - INFO: Preparing material track from assets JSON...
2026-07-16T03:24:03 - INFO: Prepared counter data in 0.0205 s
2026-07-16T03:24:03 - INFO: Extracting sonar data...
TFD path: /working/dbcc6178-5ce9-cc58-4507-41bd5f09d3ba/tfd/1708SS.tfd
TFD path: /working/dbcc6178-5ce9-cc58-4507-41bd5f09d3ba/tfd/output
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: CCTV, Tag: 4855215965616818755
Name: Checkpoint, Tag: 4857243675797774090
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855215965616818764
Getting track SONAR
Number of frames: 1437
21 / 1437 [->__________________________________________________________________________] 1.46% ? p/s43 / 1437 [-->_________________________________________________________________________] 2.99% ? p/s65 / 1437 [--->________________________________________________________________________] 4.52% ? p/s88 / 1437 [---->_____________________________________________________________________] 6.12% 112 p/s110 / 1437 [----->___________________________________________________________________] 7.65% 112 p/s130 / 1437 [------>__________________________________________________________________] 9.05% 112 p/s152 / 1437 [------->________________________________________________________________] 10.58% 111 p/s174 / 1437 [-------->_______________________________________________________________] 12.11% 111 p/s195 / 1437 [--------->______________________________________________________________] 13.57% 111 p/s217 / 1437 [---------->_____________________________________________________________] 15.10% 111 p/s240 / 1437 [------------>___________________________________________________________] 16.70% 111 p/s261 / 1437 [------------->__________________________________________________________] 18.16% 111 p/s283 / 1437 [-------------->_________________________________________________________] 19.69% 111 p/s306 / 1437 [--------------->________________________________________________________] 21.29% 111 p/s328 / 1437 [---------------->_______________________________________________________] 22.83% 111 p/s350 / 1437 [----------------->______________________________________________________] 24.36% 111 p/s372 / 1437 [------------------>_____________________________________________________] 25.89% 111 p/s395 / 1437 [------------------->____________________________________________________] 27.49% 111 p/s417 / 1437 [-------------------->___________________________________________________] 29.02% 111 p/s439 / 1437 [--------------------->__________________________________________________] 30.55% 111 p/s462 / 1437 [----------------------->________________________________________________] 32.15% 111 p/s484 / 1437 [------------------------>_______________________________________________] 33.68% 111 p/s506 / 1437 [------------------------->______________________________________________] 35.21% 111 p/s528 / 1437 [-------------------------->_____________________________________________] 36.74% 111 p/s550 / 1437 [--------------------------->____________________________________________] 38.27% 111 p/s573 / 1437 [---------------------------->___________________________________________] 39.87% 111 p/s595 / 1437 [----------------------------->__________________________________________] 41.41% 111 p/s617 / 1437 [------------------------------>_________________________________________] 42.94% 111 p/s639 / 1437 [-------------------------------->_______________________________________] 44.47% 111 p/s662 / 1437 [--------------------------------->______________________________________] 46.07% 111 p/s684 / 1437 [---------------------------------->_____________________________________] 47.60% 111 p/s707 / 1437 [----------------------------------->____________________________________] 49.20% 111 p/s729 / 1437 [------------------------------------>___________________________________] 50.73% 111 p/s751 / 1437 [------------------------------------->__________________________________] 52.26% 111 p/s774 / 1437 [-------------------------------------->_________________________________] 53.86% 111 p/s796 / 1437 [--------------------------------------->________________________________] 55.39% 111 p/s818 / 1437 [---------------------------------------->_______________________________] 56.92% 111 p/s841 / 1437 [------------------------------------------>_____________________________] 58.52% 111 p/s863 / 1437 [------------------------------------------->____________________________] 60.06% 111 p/s884 / 1437 [-------------------------------------------->___________________________] 61.52% 111 p/s907 / 1437 [--------------------------------------------->__________________________] 63.12% 111 p/s929 / 1437 [---------------------------------------------->_________________________] 64.65% 111 p/s951 / 1437 [----------------------------------------------->________________________] 66.18% 111 p/s974 / 1437 [------------------------------------------------>_______________________] 67.78% 111 p/s997 / 1437 [------------------------------------------------->______________________] 69.38% 111 p/s1018 / 1437 [-------------------------------------------------->____________________] 70.84% 111 p/s1040 / 1437 [--------------------------------------------------->___________________] 72.37% 111 p/s1063 / 1437 [---------------------------------------------------->__________________] 73.97% 111 p/s1085 / 1437 [----------------------------------------------------->_________________] 75.50% 111 p/s1108 / 1437 [------------------------------------------------------>________________] 77.11% 111 p/s1130 / 1437 [------------------------------------------------------->_______________] 78.64% 111 p/s1152 / 1437 [-------------------------------------------------------->______________] 80.17% 111 p/s1175 / 1437 [---------------------------------------------------------->____________] 81.77% 111 p/s1197 / 1437 [----------------------------------------------------------->___________] 83.30% 111 p/s1220 / 1437 [------------------------------------------------------------>__________] 84.90% 111 p/s1243 / 1437 [------------------------------------------------------------->_________] 86.50% 111 p/s1265 / 1437 [-------------------------------------------------------------->________] 88.03% 111 p/s1288 / 1437 [--------------------------------------------------------------->_______] 89.63% 112 p/s1310 / 1437 [---------------------------------------------------------------->______] 91.16% 112 p/s1333 / 1437 [----------------------------------------------------------------->_____] 92.76% 112 p/s1356 / 1437 [------------------------------------------------------------------>____] 94.36% 112 p/s1378 / 1437 [-------------------------------------------------------------------->__] 95.89% 112 p/s1400 / 1437 [--------------------------------------------------------------------->_] 97.43% 112 p/s1423 / 1437 [---------------------------------------------------------------------->] 99.03% 112 p/s1437 / 1437 [----------------------------------------------------------------------] 100.00% 113 p/s2026-07-16T03:24:16 - INFO: Parsing 1437 sonar sweeps from /working/dbcc6178-5ce9-cc58-4507-41bd5f09d3ba/tfd/output/SONAR/all-sweeps-info.csv...

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2026-07-16T03:25:12 - 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/dbcc6178-5ce9-cc58-4507-41bd5f09d3ba/dbcc6178-5ce9-cc58-4507-41bd5f09d3ba"
2026-07-16T03:25:14 - INFO: DataPrep 0.14.7
2026-07-16T03:25:14 - INFO: Prepared data will be output to /working/dbcc6178-5ce9-cc58-4507-41bd5f09d3ba/dbcc6178-5ce9-cc58-4507-41bd5f09d3ba/processing/data
2026-07-16T03:25:14 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-16T03:25:14 - deployment - INFO: Detected P3D version: P3D_1
2026-07-16T03:25:14 - INFO: Recording GUID: dbcc6178-5ce9-cc58-4507-41bd5f09d3ba
2026-07-16T03:25:14 - INFO: Preparing sonar data...
2026-07-16T03:25:14 - INFO: /working/dbcc6178-5ce9-cc58-4507-41bd5f09d3ba/dbcc6178-5ce9-cc58-4507-41bd5f09d3ba/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-16T03:25:15 - INFO: Sonar epoch is 2026-03-13 18:17:17.651546+00:00 (1773425837651546015)
2026-07-16T03:25:15 - INFO: Creating sonar sensor alignment track...
2026-07-16T03:25:15 - INFO: Using sonar rotation of 0.209440 radians for wedge mask
2026-07-16T03:25:15 - INFO: Sensor speed of sound is 1500 m/s
2026-07-16T03:25:15 - INFO: Sensor range is 0.794640 m
2026-07-16T03:25:15 - INFO: Sensor micrometres per sample is 2640.000015
2026-07-16T03:25:15 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-16T03:25:15 - INFO: Scaled range is 0.791720 m
2026-07-16T03:25:15 - INFO: Scaled micrometres per sample is 2630.299931
2026-07-16T03:25:15 - INFO: Processing 1437 sweeps...

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2026-07-16T03:25:20 - INFO: Prepared sonar data in 5.8924 s
2026-07-16T03:25:20 - INFO: No IMU data found
2026-07-16T03:25:20 - INFO: DataPrep took 0:00:06.068987
2026-07-16T03:25:20 - INFO: Extracted sonar data in 0:01:16.539819
2026-07-16T03:25:20 - INFO: MSIP3D took 0:01:16.670358