+ [ 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/1cb03372-cba3-4100-9453-17d34e148f8f
2026-07-16T03:35:56 - INFO: MSIP3D 0.2.8
2026-07-16T03:35:57 - INFO: P3D files will be output to /working/1cb03372-cba3-4100-9453-17d34e148f8f/1cb03372-cba3-4100-9453-17d34e148f8f
2026-07-16T03:35:57 - INFO: Found 11 TFD dictionary entries
2026-07-16T03:35:57 - INFO: Found TFD mission for 1736SS
2026-07-16T03:35:57 - INFO: Recording will be processed as SMD
2026-07-16T03:35:57 - INFO: Copying assets JSON to output directory...
2026-07-16T03:35:57 - INFO: Preparing counter data...
2026-07-16T03:35:57 - INFO: Interpreting counter as imperial
2026-07-16T03:35:57 - INFO: Preparing size track from assets JSON...
2026-07-16T03:35:57 - INFO: Preparing shape track from assets JSON...
2026-07-16T03:35:57 - INFO: Preparing material track from assets JSON...
2026-07-16T03:35:57 - INFO: Prepared counter data in 0.2234 s
2026-07-16T03:35:57 - INFO: Extracting sonar data...
TFD path: /working/1cb03372-cba3-4100-9453-17d34e148f8f/tfd/1736SS.tfd
TFD path: /working/1cb03372-cba3-4100-9453-17d34e148f8f/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855215978501720644
Name: LASER, Tag: 4855215978501720652
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: CCTV, Tag: 4855215978501720643
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Getting track SONAR
Number of frames: 2628
19 / 2628 [>___________________________________________________________________________] 0.72% ? p/s39 / 2628 [->__________________________________________________________________________] 1.48% ? p/s59 / 2628 [->__________________________________________________________________________] 2.25% ? p/s79 / 2628 [-->_______________________________________________________________________] 3.01% 100 p/s100 / 2628 [-->______________________________________________________________________] 3.81% 100 p/s120 / 2628 [--->_____________________________________________________________________] 4.57% 100 p/s139 / 2628 [--->_____________________________________________________________________] 5.29% 100 p/s160 / 2628 [---->____________________________________________________________________] 6.09% 100 p/s180 / 2628 [---->____________________________________________________________________] 6.85% 100 p/s200 / 2628 [----->___________________________________________________________________] 7.61% 100 p/s221 / 2628 [------>__________________________________________________________________] 8.41% 100 p/s241 / 2628 [------>__________________________________________________________________] 9.17% 100 p/s260 / 2628 [------->_________________________________________________________________] 9.89% 100 p/s281 / 2628 [------->________________________________________________________________] 10.69% 100 p/s301 / 2628 [-------->_______________________________________________________________] 11.45% 100 p/s321 / 2628 [-------->_______________________________________________________________] 12.21% 100 p/s341 / 2628 [--------->______________________________________________________________] 12.98% 100 p/s362 / 2628 [--------->______________________________________________________________] 13.77% 100 p/s382 / 2628 [---------->_____________________________________________________________] 14.54% 100 p/s402 / 2628 [----------->____________________________________________________________] 15.30% 100 p/s422 / 2628 [----------->____________________________________________________________] 16.06% 100 p/s442 / 2628 [------------>___________________________________________________________] 16.82% 100 p/s463 / 2628 [------------>___________________________________________________________] 17.62% 100 p/s483 / 2628 [------------->__________________________________________________________] 18.38% 100 p/s501 / 2628 [------------->__________________________________________________________] 19.06% 100 p/s521 / 2628 [-------------->_________________________________________________________] 19.82% 100 p/s541 / 2628 [-------------->_________________________________________________________] 20.59% 100 p/s561 / 2628 [--------------->________________________________________________________] 21.35% 100 p/s582 / 2628 [--------------->________________________________________________________] 22.15% 100 p/s602 / 2628 [---------------->_______________________________________________________] 22.91% 100 p/s622 / 2628 [----------------->______________________________________________________] 23.67% 100 p/s642 / 2628 [----------------->______________________________________________________] 24.43% 100 p/s663 / 2628 [------------------>_____________________________________________________] 25.23% 100 p/s683 / 2628 [------------------>_____________________________________________________] 25.99% 100 p/s703 / 2628 [------------------->____________________________________________________] 26.75% 100 p/s723 / 2628 [------------------->____________________________________________________] 27.51% 100 p/s744 / 2628 [-------------------->___________________________________________________] 28.31% 100 p/s764 / 2628 [-------------------->___________________________________________________] 29.07% 100 p/s784 / 2628 [--------------------->__________________________________________________] 29.83% 100 p/s805 / 2628 [---------------------->_________________________________________________] 30.63% 101 p/s825 / 2628 [---------------------->_________________________________________________] 31.39% 101 p/s845 / 2628 [----------------------->________________________________________________] 32.15% 101 p/s866 / 2628 [----------------------->________________________________________________] 32.95% 101 p/s886 / 2628 [------------------------>_______________________________________________] 33.71% 101 p/s906 / 2628 [------------------------>_______________________________________________] 34.47% 101 p/s926 / 2628 [------------------------->______________________________________________] 35.24% 101 p/s946 / 2628 [------------------------->______________________________________________] 36.00% 101 p/s966 / 2628 [-------------------------->_____________________________________________] 36.76% 101 p/s986 / 2628 [--------------------------->____________________________________________] 37.52% 101 p/s1005 / 2628 [--------------------------->___________________________________________] 38.24% 101 p/s1025 / 2628 [--------------------------->___________________________________________] 39.00% 101 p/s1045 / 2628 [---------------------------->__________________________________________] 39.76% 100 p/s1066 / 2628 [---------------------------->__________________________________________] 40.56% 100 p/s1086 / 2628 [----------------------------->_________________________________________] 41.32% 100 p/s1106 / 2628 [----------------------------->_________________________________________] 42.09% 100 p/s1126 / 2628 [------------------------------>________________________________________] 42.85% 100 p/s1147 / 2628 [------------------------------>________________________________________] 43.65% 100 p/s1167 / 2628 [------------------------------->_______________________________________] 44.41% 101 p/s1187 / 2628 [-------------------------------->______________________________________] 45.17% 101 p/s1207 / 2628 [-------------------------------->______________________________________] 45.93% 101 p/s1228 / 2628 [--------------------------------->_____________________________________] 46.73% 101 p/s1248 / 2628 [--------------------------------->_____________________________________] 47.49% 101 p/s1268 / 2628 [---------------------------------->____________________________________] 48.25% 101 p/s1289 / 2628 [---------------------------------->____________________________________] 49.05% 101 p/s1309 / 2628 [----------------------------------->___________________________________] 49.81% 101 p/s1329 / 2628 [----------------------------------->___________________________________] 50.57% 101 p/s1349 / 2628 [------------------------------------>__________________________________] 51.33% 101 p/s1369 / 2628 [------------------------------------>__________________________________] 52.09% 101 p/s1390 / 2628 [------------------------------------->_________________________________] 52.89% 101 p/s1410 / 2628 [-------------------------------------->________________________________] 53.65% 101 p/s1430 / 2628 [-------------------------------------->________________________________] 54.41% 101 p/s1451 / 2628 [--------------------------------------->_______________________________] 55.21% 101 p/s1471 / 2628 [--------------------------------------->_______________________________] 55.97% 101 p/s1491 / 2628 [---------------------------------------->______________________________] 56.74% 101 p/s1511 / 2628 [---------------------------------------->______________________________] 57.50% 101 p/s1532 / 2628 [----------------------------------------->_____________________________] 58.30% 101 p/s1552 / 2628 [----------------------------------------->_____________________________] 59.06% 101 p/s1572 / 2628 [------------------------------------------>____________________________] 59.82% 101 p/s1592 / 2628 [------------------------------------------->___________________________] 60.58% 101 p/s1613 / 2628 [------------------------------------------->___________________________] 61.38% 101 p/s1633 / 2628 [-------------------------------------------->__________________________] 62.14% 101 p/s1654 / 2628 [-------------------------------------------->__________________________] 62.94% 101 p/s1674 / 2628 [--------------------------------------------->_________________________] 63.70% 101 p/s1694 / 2628 [--------------------------------------------->_________________________] 64.46% 101 p/s1714 / 2628 [---------------------------------------------->________________________] 65.22% 101 p/s1735 / 2628 [---------------------------------------------->________________________] 66.02% 101 p/s1755 / 2628 [----------------------------------------------->_______________________] 66.78% 101 p/s1774 / 2628 [----------------------------------------------->_______________________] 67.50% 101 p/s1794 / 2628 [------------------------------------------------>______________________] 68.26% 101 p/s1815 / 2628 [------------------------------------------------->_____________________] 69.06% 101 p/s1835 / 2628 [------------------------------------------------->_____________________] 69.82% 101 p/s1855 / 2628 [-------------------------------------------------->____________________] 70.59% 101 p/s1876 / 2628 [-------------------------------------------------->____________________] 71.39% 101 p/s1896 / 2628 [--------------------------------------------------->___________________] 72.15% 101 p/s1916 / 2628 [--------------------------------------------------->___________________] 72.91% 101 p/s1936 / 2628 [---------------------------------------------------->__________________] 73.67% 101 p/s1956 / 2628 [---------------------------------------------------->__________________] 74.43% 101 p/s1977 / 2628 [----------------------------------------------------->_________________] 75.23% 101 p/s1997 / 2628 [----------------------------------------------------->_________________] 75.99% 101 p/s2017 / 2628 [------------------------------------------------------>________________] 76.75% 101 p/s2037 / 2628 [------------------------------------------------------->_______________] 77.51% 101 p/s2055 / 2628 [------------------------------------------------------->_______________] 78.20% 101 p/s2075 / 2628 [-------------------------------------------------------->______________] 78.96% 101 p/s2095 / 2628 [-------------------------------------------------------->______________] 79.72% 101 p/s2115 / 2628 [--------------------------------------------------------->_____________] 80.48% 101 p/s2136 / 2628 [--------------------------------------------------------->_____________] 81.28% 101 p/s2155 / 2628 [---------------------------------------------------------->____________] 82.00% 101 p/s2175 / 2628 [---------------------------------------------------------->____________] 82.76% 101 p/s2196 / 2628 [----------------------------------------------------------->___________] 83.56% 101 p/s2216 / 2628 [----------------------------------------------------------->___________] 84.32% 101 p/s2236 / 2628 [------------------------------------------------------------>__________] 85.08% 101 p/s2254 / 2628 [------------------------------------------------------------>__________] 85.77% 100 p/s2275 / 2628 [------------------------------------------------------------->_________] 86.57% 100 p/s2295 / 2628 [-------------------------------------------------------------->________] 87.33% 100 p/s2315 / 2628 [-------------------------------------------------------------->________] 88.09% 100 p/s2336 / 2628 [--------------------------------------------------------------->_______] 88.89% 100 p/s2356 / 2628 [--------------------------------------------------------------->_______] 89.65% 100 p/s2376 / 2628 [---------------------------------------------------------------->______] 90.41% 101 p/s2396 / 2628 [---------------------------------------------------------------->______] 91.17% 101 p/s2416 / 2628 [----------------------------------------------------------------->_____] 91.93% 101 p/s2436 / 2628 [----------------------------------------------------------------->_____] 92.69% 101 p/s2456 / 2628 [------------------------------------------------------------------>____] 93.46% 101 p/s2475 / 2628 [------------------------------------------------------------------>____] 94.18% 101 p/s2495 / 2628 [------------------------------------------------------------------->___] 94.94% 100 p/s2515 / 2628 [------------------------------------------------------------------->___] 95.70% 100 p/s2535 / 2628 [-------------------------------------------------------------------->__] 96.46% 100 p/s2556 / 2628 [--------------------------------------------------------------------->_] 97.26% 100 p/s2575 / 2628 [--------------------------------------------------------------------->_] 97.98% 100 p/s2594 / 2628 [---------------------------------------------------------------------->] 98.71% 100 p/s2615 / 2628 [---------------------------------------------------------------------->] 99.51% 100 p/s2628 / 2628 [----------------------------------------------------------------------] 100.00% 101 p/s2026-07-16T03:36:23 - INFO: Parsing 2628 sonar sweeps from /working/1cb03372-cba3-4100-9453-17d34e148f8f/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/2628 [00:00<?, ?it/s]
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2026-07-16T03:38:05 - 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-distance-threshold 60 --sonar-sample-offset -1 /working/1cb03372-cba3-4100-9453-17d34e148f8f/1cb03372-cba3-4100-9453-17d34e148f8f"
2026-07-16T03:38:07 - INFO: DataPrep 0.14.7
2026-07-16T03:38:07 - INFO: Prepared data will be output to /working/1cb03372-cba3-4100-9453-17d34e148f8f/1cb03372-cba3-4100-9453-17d34e148f8f/processing/data
2026-07-16T03:38:07 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-16T03:38:07 - deployment - INFO: Detected P3D version: P3D_1
2026-07-16T03:38:07 - INFO: Recording GUID: 1cb03372-cba3-4100-9453-17d34e148f8f
2026-07-16T03:38:07 - INFO: Preparing sonar data...
2026-07-16T03:38:07 - INFO: /working/1cb03372-cba3-4100-9453-17d34e148f8f/1cb03372-cba3-4100-9453-17d34e148f8f/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-16T03:38:09 - INFO: Sonar epoch is 2026-03-12 15:23:35.861661+00:00 (1773329015861661460)
2026-07-16T03:38:09 - INFO: Sensor speed of sound is 1500 m/s
2026-07-16T03:38:09 - INFO: Sensor range is 1.589280 m
2026-07-16T03:38:09 - INFO: Sensor micrometres per sample is 5280.000031
2026-07-16T03:38:09 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-16T03:38:09 - INFO: Scaled range is 1.583441 m
2026-07-16T03:38:09 - INFO: Scaled micrometres per sample is 5260.599863
2026-07-16T03:38:09 - INFO: Processing 2628 sweeps...

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2026-07-16T03:38:17 - INFO: Prepared sonar data in 10.7630 s
2026-07-16T03:38:17 - INFO: No IMU data found
2026-07-16T03:38:18 - INFO: DataPrep took 0:00:11.191853
2026-07-16T03:38:18 - INFO: Extracted sonar data in 0:02:20.862923
2026-07-16T03:38:18 - INFO: MSIP3D took 0:02:21.313561