+ [ 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/1a63e554-5375-65f0-9ab5-57b6e4adc818
2026-07-16T03:29:50 - INFO: MSIP3D 0.2.8
2026-07-16T03:29:50 - INFO: P3D files will be output to /working/1a63e554-5375-65f0-9ab5-57b6e4adc818/1a63e554-5375-65f0-9ab5-57b6e4adc818
2026-07-16T03:29:50 - INFO: Found 10 TFD dictionary entries
2026-07-16T03:29:50 - INFO: Found TFD mission for 1726SS
2026-07-16T03:29:50 - INFO: Recording will be processed as MD
2026-07-16T03:29:50 - INFO: Copying assets JSON to output directory...
2026-07-16T03:29:50 - INFO: Preparing counter data...
2026-07-16T03:29:50 - INFO: Interpreting counter as imperial
2026-07-16T03:29:50 - INFO: Preparing size track from assets JSON...
2026-07-16T03:29:50 - INFO: Preparing shape track from assets JSON...
2026-07-16T03:29:50 - INFO: Preparing material track from assets JSON...
2026-07-16T03:29:50 - INFO: Prepared counter data in 0.0544 s
2026-07-16T03:29:50 - INFO: Extracting sonar data...
TFD path: /working/1a63e554-5375-65f0-9ab5-57b6e4adc818/tfd/1726SS.tfd
TFD path: /working/1a63e554-5375-65f0-9ab5-57b6e4adc818/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855215965616818755
Name: LASER, Tag: 4855215965616818764
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Checkpoint, Tag: 4857243675797774090
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 2012
21 / 2012 [>___________________________________________________________________________] 1.04% ? p/s42 / 2012 [->__________________________________________________________________________] 2.09% ? p/s64 / 2012 [-->_________________________________________________________________________] 3.18% ? p/s87 / 2012 [--->______________________________________________________________________] 4.32% 110 p/s109 / 2012 [--->_____________________________________________________________________] 5.42% 110 p/s131 / 2012 [---->____________________________________________________________________] 6.51% 110 p/s153 / 2012 [----->___________________________________________________________________] 7.60% 110 p/s176 / 2012 [------>__________________________________________________________________] 8.75% 110 p/s198 / 2012 [------->_________________________________________________________________] 9.84% 110 p/s219 / 2012 [------->________________________________________________________________] 10.88% 110 p/s241 / 2012 [-------->_______________________________________________________________] 11.98% 110 p/s263 / 2012 [--------->______________________________________________________________] 13.07% 110 p/s285 / 2012 [---------->_____________________________________________________________] 14.17% 110 p/s307 / 2012 [---------->_____________________________________________________________] 15.26% 110 p/s329 / 2012 [----------->____________________________________________________________] 16.35% 110 p/s352 / 2012 [------------>___________________________________________________________] 17.50% 110 p/s375 / 2012 [------------->__________________________________________________________] 18.64% 110 p/s397 / 2012 [-------------->_________________________________________________________] 19.73% 110 p/s420 / 2012 [--------------->________________________________________________________] 20.87% 110 p/s443 / 2012 [--------------->________________________________________________________] 22.02% 110 p/s466 / 2012 [---------------->_______________________________________________________] 23.16% 110 p/s488 / 2012 [----------------->______________________________________________________] 24.25% 110 p/s510 / 2012 [------------------>_____________________________________________________] 25.35% 110 p/s533 / 2012 [------------------->____________________________________________________] 26.49% 110 p/s555 / 2012 [------------------->____________________________________________________] 27.58% 111 p/s578 / 2012 [-------------------->___________________________________________________] 28.73% 111 p/s601 / 2012 [--------------------->__________________________________________________] 29.87% 111 p/s624 / 2012 [---------------------->_________________________________________________] 31.01% 111 p/s646 / 2012 [----------------------->________________________________________________] 32.11% 111 p/s669 / 2012 [----------------------->________________________________________________] 33.25% 111 p/s692 / 2012 [------------------------>_______________________________________________] 34.39% 111 p/s714 / 2012 [------------------------->______________________________________________] 35.49% 111 p/s737 / 2012 [-------------------------->_____________________________________________] 36.63% 111 p/s759 / 2012 [--------------------------->____________________________________________] 37.72% 111 p/s782 / 2012 [--------------------------->____________________________________________] 38.87% 111 p/s804 / 2012 [---------------------------->___________________________________________] 39.96% 111 p/s826 / 2012 [----------------------------->__________________________________________] 41.05% 111 p/s848 / 2012 [------------------------------>_________________________________________] 42.15% 111 p/s870 / 2012 [------------------------------->________________________________________] 43.24% 111 p/s892 / 2012 [------------------------------->________________________________________] 44.33% 111 p/s914 / 2012 [-------------------------------->_______________________________________] 45.43% 111 p/s936 / 2012 [--------------------------------->______________________________________] 46.52% 111 p/s959 / 2012 [---------------------------------->_____________________________________] 47.66% 111 p/s981 / 2012 [----------------------------------->____________________________________] 48.76% 111 p/s1003 / 2012 [----------------------------------->___________________________________] 49.85% 111 p/s1025 / 2012 [------------------------------------>__________________________________] 50.94% 111 p/s1046 / 2012 [------------------------------------>__________________________________] 51.99% 111 p/s1069 / 2012 [------------------------------------->_________________________________] 53.13% 111 p/s1091 / 2012 [-------------------------------------->________________________________] 54.22% 111 p/s1112 / 2012 [--------------------------------------->_______________________________] 55.27% 111 p/s1134 / 2012 [---------------------------------------->______________________________] 56.36% 111 p/s1156 / 2012 [---------------------------------------->______________________________] 57.46% 111 p/s1178 / 2012 [----------------------------------------->_____________________________] 58.55% 111 p/s1199 / 2012 [------------------------------------------>____________________________] 59.59% 111 p/s1221 / 2012 [------------------------------------------->___________________________] 60.69% 111 p/s1244 / 2012 [------------------------------------------->___________________________] 61.83% 111 p/s1266 / 2012 [-------------------------------------------->__________________________] 62.92% 111 p/s1288 / 2012 [--------------------------------------------->_________________________] 64.02% 111 p/s1311 / 2012 [---------------------------------------------->________________________] 65.16% 111 p/s1333 / 2012 [----------------------------------------------->_______________________] 66.25% 111 p/s1355 / 2012 [----------------------------------------------->_______________________] 67.35% 111 p/s1378 / 2012 [------------------------------------------------>______________________] 68.49% 111 p/s1401 / 2012 [------------------------------------------------->_____________________] 69.63% 111 p/s1422 / 2012 [-------------------------------------------------->____________________] 70.68% 111 p/s1444 / 2012 [-------------------------------------------------->____________________] 71.77% 111 p/s1465 / 2012 [--------------------------------------------------->___________________] 72.81% 111 p/s1488 / 2012 [---------------------------------------------------->__________________] 73.96% 111 p/s1510 / 2012 [----------------------------------------------------->_________________] 75.05% 111 p/s1533 / 2012 [------------------------------------------------------>________________] 76.19% 111 p/s1555 / 2012 [------------------------------------------------------>________________] 77.29% 111 p/s1578 / 2012 [------------------------------------------------------->_______________] 78.43% 111 p/s1601 / 2012 [-------------------------------------------------------->______________] 79.57% 111 p/s1624 / 2012 [--------------------------------------------------------->_____________] 80.72% 111 p/s1647 / 2012 [---------------------------------------------------------->____________] 81.86% 111 p/s1669 / 2012 [---------------------------------------------------------->____________] 82.95% 111 p/s1690 / 2012 [----------------------------------------------------------->___________] 84.00% 111 p/s1713 / 2012 [------------------------------------------------------------>__________] 85.14% 111 p/s1736 / 2012 [------------------------------------------------------------->_________] 86.28% 111 p/s1757 / 2012 [-------------------------------------------------------------->________] 87.33% 111 p/s1780 / 2012 [-------------------------------------------------------------->________] 88.47% 111 p/s1803 / 2012 [--------------------------------------------------------------->_______] 89.61% 111 p/s1825 / 2012 [---------------------------------------------------------------->______] 90.71% 111 p/s1848 / 2012 [----------------------------------------------------------------->_____] 91.85% 111 p/s1871 / 2012 [------------------------------------------------------------------>____] 92.99% 111 p/s1893 / 2012 [------------------------------------------------------------------>____] 94.09% 111 p/s1916 / 2012 [------------------------------------------------------------------->___] 95.23% 111 p/s1937 / 2012 [-------------------------------------------------------------------->__] 96.27% 111 p/s1960 / 2012 [--------------------------------------------------------------------->_] 97.42% 111 p/s1983 / 2012 [--------------------------------------------------------------------->_] 98.56% 111 p/s2004 / 2012 [---------------------------------------------------------------------->] 99.60% 111 p/s2012 / 2012 [----------------------------------------------------------------------] 100.00% 113 p/s2026-07-16T03:30:08 - INFO: Parsing 2012 sonar sweeps from /working/1a63e554-5375-65f0-9ab5-57b6e4adc818/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/2012 [00:00<?, ?it/s]
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2026-07-16T03:31:24 - WARNING: Expected 400 beams, got 160, dropping sweep 2011
2026-07-16T03:31:24 - 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/1a63e554-5375-65f0-9ab5-57b6e4adc818/1a63e554-5375-65f0-9ab5-57b6e4adc818"
2026-07-16T03:31:26 - INFO: DataPrep 0.14.7
2026-07-16T03:31:26 - INFO: Prepared data will be output to /working/1a63e554-5375-65f0-9ab5-57b6e4adc818/1a63e554-5375-65f0-9ab5-57b6e4adc818/processing/data
2026-07-16T03:31:26 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-16T03:31:26 - deployment - INFO: Detected P3D version: P3D_1
2026-07-16T03:31:26 - INFO: Recording GUID: 1a63e554-5375-65f0-9ab5-57b6e4adc818
2026-07-16T03:31:26 - INFO: Preparing sonar data...
2026-07-16T03:31:26 - INFO: /working/1a63e554-5375-65f0-9ab5-57b6e4adc818/1a63e554-5375-65f0-9ab5-57b6e4adc818/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-16T03:31:28 - INFO: Sonar epoch is 2026-02-23 15:27:45.343647+00:00 (1771860465343647207)
2026-07-16T03:31:28 - INFO: Creating sonar sensor alignment track...
2026-07-16T03:31:28 - INFO: Using sonar rotation of 0.209440 radians for wedge mask
2026-07-16T03:31:28 - INFO: Sensor speed of sound is 1500 m/s
2026-07-16T03:31:28 - INFO: Sensor range is 0.939120 m
2026-07-16T03:31:28 - INFO: Sensor micrometres per sample is 3119.999982
2026-07-16T03:31:28 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-16T03:31:28 - INFO: Scaled range is 0.935669 m
2026-07-16T03:31:28 - INFO: Scaled micrometres per sample is 3108.536247
2026-07-16T03:31:28 - INFO: Processing 2011 sweeps...

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100%|██████████| 2011/2011 [00:04<00:00, 439.26sw/s]
2026-07-16T03:31:35 - INFO: Prepared sonar data in 9.0649 s
2026-07-16T03:31:35 - INFO: No IMU data found
2026-07-16T03:31:35 - INFO: DataPrep took 0:00:09.352740
2026-07-16T03:31:35 - INFO: Extracted sonar data in 0:01:45.231976
2026-07-16T03:31:35 - INFO: MSIP3D took 0:01:45.472838