+ [ 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/5374e387-9562-9104-be28-f29093014db4
2026-07-16T03:25:33 - INFO: MSIP3D 0.2.8
2026-07-16T03:25:33 - INFO: P3D files will be output to /working/5374e387-9562-9104-be28-f29093014db4/5374e387-9562-9104-be28-f29093014db4
2026-07-16T03:25:33 - INFO: Found 10 TFD dictionary entries
2026-07-16T03:25:33 - INFO: Found TFD mission for 1717SS
2026-07-16T03:25:33 - INFO: Recording will be processed as MD
2026-07-16T03:25:33 - INFO: Copying assets JSON to output directory...
2026-07-16T03:25:33 - INFO: Preparing counter data...
2026-07-16T03:25:33 - INFO: Interpreting counter as imperial
2026-07-16T03:25:34 - INFO: Preparing size track from assets JSON...
2026-07-16T03:25:34 - INFO: Preparing shape track from assets JSON...
2026-07-16T03:25:34 - INFO: Preparing material track from assets JSON...
2026-07-16T03:25:34 - INFO: Prepared counter data in 0.0818 s
2026-07-16T03:25:34 - INFO: Extracting sonar data...
TFD path: /working/5374e387-9562-9104-be28-f29093014db4/tfd/1717SS.tfd
TFD path: /working/5374e387-9562-9104-be28-f29093014db4/tfd/output
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855215965616818764
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012080331585573559
Name: CCTV, Tag: 4855215965616818755
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Getting track SONAR
Number of frames: 2279
22 / 2279 [>___________________________________________________________________________] 0.97% ? p/s46 / 2279 [->__________________________________________________________________________] 2.02% ? p/s66 / 2279 [-->_________________________________________________________________________] 2.90% ? p/s88 / 2279 [-->_______________________________________________________________________] 3.86% 110 p/s111 / 2279 [--->_____________________________________________________________________] 4.87% 110 p/s133 / 2279 [---->____________________________________________________________________] 5.84% 110 p/s157 / 2279 [----->___________________________________________________________________] 6.89% 110 p/s180 / 2279 [----->___________________________________________________________________] 7.90% 110 p/s203 / 2279 [------>__________________________________________________________________] 8.91% 110 p/s226 / 2279 [------->_________________________________________________________________] 9.92% 111 p/s248 / 2279 [------->________________________________________________________________] 10.88% 111 p/s271 / 2279 [-------->_______________________________________________________________] 11.89% 111 p/s293 / 2279 [--------->______________________________________________________________] 12.86% 111 p/s316 / 2279 [--------->______________________________________________________________] 13.87% 111 p/s339 / 2279 [---------->_____________________________________________________________] 14.87% 111 p/s362 / 2279 [----------->____________________________________________________________] 15.88% 111 p/s384 / 2279 [------------>___________________________________________________________] 16.85% 111 p/s407 / 2279 [------------>___________________________________________________________] 17.86% 111 p/s430 / 2279 [------------->__________________________________________________________] 18.87% 111 p/s453 / 2279 [-------------->_________________________________________________________] 19.88% 111 p/s476 / 2279 [--------------->________________________________________________________] 20.89% 111 p/s499 / 2279 [--------------->________________________________________________________] 21.90% 111 p/s521 / 2279 [---------------->_______________________________________________________] 22.86% 111 p/s544 / 2279 [----------------->______________________________________________________] 23.87% 111 p/s566 / 2279 [----------------->______________________________________________________] 24.84% 111 p/s589 / 2279 [------------------>_____________________________________________________] 25.84% 111 p/s612 / 2279 [------------------->____________________________________________________] 26.85% 111 p/s635 / 2279 [-------------------->___________________________________________________] 27.86% 112 p/s658 / 2279 [-------------------->___________________________________________________] 28.87% 112 p/s680 / 2279 [--------------------->__________________________________________________] 29.84% 112 p/s702 / 2279 [---------------------->_________________________________________________] 30.80% 112 p/s724 / 2279 [---------------------->_________________________________________________] 31.77% 112 p/s747 / 2279 [----------------------->________________________________________________] 32.78% 112 p/s769 / 2279 [------------------------>_______________________________________________] 33.74% 112 p/s791 / 2279 [------------------------>_______________________________________________] 34.71% 112 p/s814 / 2279 [------------------------->______________________________________________] 35.72% 112 p/s837 / 2279 [-------------------------->_____________________________________________] 36.73% 112 p/s859 / 2279 [--------------------------->____________________________________________] 37.69% 112 p/s882 / 2279 [--------------------------->____________________________________________] 38.70% 112 p/s904 / 2279 [---------------------------->___________________________________________] 39.67% 112 p/s927 / 2279 [----------------------------->__________________________________________] 40.68% 112 p/s950 / 2279 [------------------------------>_________________________________________] 41.68% 112 p/s973 / 2279 [------------------------------>_________________________________________] 42.69% 112 p/s995 / 2279 [------------------------------->________________________________________] 43.66% 112 p/s1018 / 2279 [------------------------------->_______________________________________] 44.67% 112 p/s1041 / 2279 [-------------------------------->______________________________________] 45.68% 112 p/s1064 / 2279 [--------------------------------->_____________________________________] 46.69% 112 p/s1086 / 2279 [--------------------------------->_____________________________________] 47.65% 112 p/s1110 / 2279 [---------------------------------->____________________________________] 48.71% 112 p/s1132 / 2279 [----------------------------------->___________________________________] 49.67% 112 p/s1155 / 2279 [----------------------------------->___________________________________] 50.68% 112 p/s1178 / 2279 [------------------------------------>__________________________________] 51.69% 112 p/s1201 / 2279 [------------------------------------->_________________________________] 52.70% 112 p/s1224 / 2279 [-------------------------------------->________________________________] 53.71% 112 p/s1247 / 2279 [-------------------------------------->________________________________] 54.72% 112 p/s1269 / 2279 [--------------------------------------->_______________________________] 55.68% 112 p/s1292 / 2279 [---------------------------------------->______________________________] 56.69% 112 p/s1314 / 2279 [---------------------------------------->______________________________] 57.66% 112 p/s1337 / 2279 [----------------------------------------->_____________________________] 58.67% 112 p/s1360 / 2279 [------------------------------------------>____________________________] 59.68% 112 p/s1382 / 2279 [------------------------------------------->___________________________] 60.64% 112 p/s1405 / 2279 [------------------------------------------->___________________________] 61.65% 112 p/s1428 / 2279 [-------------------------------------------->__________________________] 62.66% 112 p/s1451 / 2279 [--------------------------------------------->_________________________] 63.67% 113 p/s1473 / 2279 [--------------------------------------------->_________________________] 64.63% 113 p/s1496 / 2279 [---------------------------------------------->________________________] 65.64% 113 p/s1519 / 2279 [----------------------------------------------->_______________________] 66.65% 113 p/s1542 / 2279 [------------------------------------------------>______________________] 67.66% 113 p/s1565 / 2279 [------------------------------------------------>______________________] 68.67% 113 p/s1587 / 2279 [------------------------------------------------->_____________________] 69.64% 113 p/s1610 / 2279 [-------------------------------------------------->____________________] 70.65% 113 p/s1633 / 2279 [-------------------------------------------------->____________________] 71.65% 113 p/s1656 / 2279 [--------------------------------------------------->___________________] 72.66% 113 p/s1678 / 2279 [---------------------------------------------------->__________________] 73.63% 113 p/s1701 / 2279 [---------------------------------------------------->__________________] 74.64% 113 p/s1724 / 2279 [----------------------------------------------------->_________________] 75.65% 113 p/s1747 / 2279 [------------------------------------------------------>________________] 76.66% 113 p/s1770 / 2279 [------------------------------------------------------->_______________] 77.67% 113 p/s1793 / 2279 [------------------------------------------------------->_______________] 78.67% 113 p/s1815 / 2279 [-------------------------------------------------------->______________] 79.64% 113 p/s1838 / 2279 [--------------------------------------------------------->_____________] 80.65% 113 p/s1861 / 2279 [--------------------------------------------------------->_____________] 81.66% 113 p/s1883 / 2279 [---------------------------------------------------------->____________] 82.62% 113 p/s1906 / 2279 [----------------------------------------------------------->___________] 83.63% 113 p/s1929 / 2279 [------------------------------------------------------------>__________] 84.64% 113 p/s1951 / 2279 [------------------------------------------------------------>__________] 85.61% 113 p/s1974 / 2279 [------------------------------------------------------------->_________] 86.62% 113 p/s1997 / 2279 [-------------------------------------------------------------->________] 87.63% 113 p/s2020 / 2279 [-------------------------------------------------------------->________] 88.64% 113 p/s2042 / 2279 [--------------------------------------------------------------->_______] 89.60% 113 p/s2065 / 2279 [---------------------------------------------------------------->______] 90.61% 113 p/s2088 / 2279 [----------------------------------------------------------------->_____] 91.62% 113 p/s2110 / 2279 [----------------------------------------------------------------->_____] 92.58% 113 p/s2133 / 2279 [------------------------------------------------------------------>____] 93.59% 113 p/s2156 / 2279 [------------------------------------------------------------------->___] 94.60% 113 p/s2179 / 2279 [------------------------------------------------------------------->___] 95.61% 113 p/s2202 / 2279 [-------------------------------------------------------------------->__] 96.62% 113 p/s2224 / 2279 [--------------------------------------------------------------------->_] 97.59% 113 p/s2247 / 2279 [---------------------------------------------------------------------->] 98.60% 113 p/s2270 / 2279 [---------------------------------------------------------------------->] 99.61% 113 p/s2279 / 2279 [----------------------------------------------------------------------] 100.00% 115 p/s2026-07-16T03:25:54 - INFO: Parsing 2279 sonar sweeps from /working/5374e387-9562-9104-be28-f29093014db4/tfd/output/SONAR/all-sweeps-info.csv...

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2026-07-16T03:27:16 - 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/5374e387-9562-9104-be28-f29093014db4/5374e387-9562-9104-be28-f29093014db4"
2026-07-16T03:27:18 - INFO: DataPrep 0.14.7
2026-07-16T03:27:18 - INFO: Prepared data will be output to /working/5374e387-9562-9104-be28-f29093014db4/5374e387-9562-9104-be28-f29093014db4/processing/data
2026-07-16T03:27:18 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-16T03:27:18 - deployment - INFO: Detected P3D version: P3D_1
2026-07-16T03:27:18 - INFO: Recording GUID: 5374e387-9562-9104-be28-f29093014db4
2026-07-16T03:27:18 - INFO: Preparing sonar data...
2026-07-16T03:27:18 - INFO: /working/5374e387-9562-9104-be28-f29093014db4/5374e387-9562-9104-be28-f29093014db4/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-16T03:27:20 - INFO: Sonar epoch is 2026-02-23 16:56:38.831213+00:00 (1771865798831213277)
2026-07-16T03:27:20 - INFO: Creating sonar sensor alignment track...
2026-07-16T03:27:20 - INFO: Using sonar rotation of 0.244346 radians for wedge mask
2026-07-16T03:27:20 - INFO: Sensor speed of sound is 1500 m/s
2026-07-16T03:27:20 - INFO: Sensor range is 0.939120 m
2026-07-16T03:27:20 - INFO: Sensor micrometres per sample is 3119.999982
2026-07-16T03:27:20 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-16T03:27:20 - INFO: Scaled range is 0.935669 m
2026-07-16T03:27:20 - INFO: Scaled micrometres per sample is 3108.536247
2026-07-16T03:27:20 - INFO: Processing 2279 sweeps...

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2026-07-16T03:27:28 - INFO: Prepared sonar data in 10.1083 s
2026-07-16T03:27:28 - INFO: No IMU data found
2026-07-16T03:27:28 - INFO: DataPrep took 0:00:10.412742
2026-07-16T03:27:28 - INFO: Extracted sonar data in 0:01:54.818739
2026-07-16T03:27:29 - INFO: MSIP3D took 0:01:55.094970