+ [ 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/2ec7c4cc-58ef-1243-c1eb-d532deadc16c
2026-07-16T03:32:44 - INFO: MSIP3D 0.2.8
2026-07-16T03:32:44 - INFO: P3D files will be output to /working/2ec7c4cc-58ef-1243-c1eb-d532deadc16c/2ec7c4cc-58ef-1243-c1eb-d532deadc16c
2026-07-16T03:32:44 - INFO: Found 11 TFD dictionary entries
2026-07-16T03:32:44 - INFO: Found TFD mission for 2291SS
2026-07-16T03:32:44 - INFO: Recording will be processed as SMD
2026-07-16T03:32:44 - INFO: Copying assets JSON to output directory...
2026-07-16T03:32:44 - INFO: Preparing counter data...
2026-07-16T03:32:44 - INFO: Interpreting counter as imperial
2026-07-16T03:32:45 - INFO: Preparing size track from assets JSON...
2026-07-16T03:32:45 - INFO: Preparing shape track from assets JSON...
2026-07-16T03:32:45 - INFO: Preparing material track from assets JSON...
2026-07-16T03:32:45 - INFO: Prepared counter data in 0.0882 s
2026-07-16T03:32:45 - INFO: Extracting sonar data...
TFD path: /working/2ec7c4cc-58ef-1243-c1eb-d532deadc16c/tfd/2291SS.tfd
TFD path: /working/2ec7c4cc-58ef-1243-c1eb-d532deadc16c/tfd/output
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720644
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: CCTV, Tag: 4855215978501720643
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Getting track SONAR
Number of frames: 2170
19 / 2170 [>___________________________________________________________________________] 0.88% ? p/s39 / 2170 [->__________________________________________________________________________] 1.80% ? p/s58 / 2170 [-->_________________________________________________________________________] 2.67% ? p/s79 / 2170 [-->_______________________________________________________________________] 3.64% 100 p/s97 / 2170 [--->______________________________________________________________________] 4.47% 100 p/s117 / 2170 [--->_____________________________________________________________________] 5.39% 100 p/s135 / 2170 [---->____________________________________________________________________] 6.22% 100 p/s155 / 2170 [----->___________________________________________________________________] 7.14% 100 p/s173 / 2170 [----->___________________________________________________________________] 7.97% 100 p/s194 / 2170 [------>__________________________________________________________________] 8.94% 100 p/s212 / 2170 [------->_________________________________________________________________] 9.77% 100 p/s232 / 2170 [------->________________________________________________________________] 10.69% 100 p/s252 / 2170 [-------->________________________________________________________________] 11.61% 99 p/s272 / 2170 [--------->_______________________________________________________________] 12.53% 99 p/s292 / 2170 [--------->_______________________________________________________________] 13.46% 99 p/s311 / 2170 [---------->______________________________________________________________] 14.33% 99 p/s331 / 2170 [----------->_____________________________________________________________] 15.25% 99 p/s351 / 2170 [----------->_____________________________________________________________] 16.18% 99 p/s371 / 2170 [------------>____________________________________________________________] 17.10% 99 p/s392 / 2170 [------------->___________________________________________________________] 18.06% 99 p/s412 / 2170 [------------->___________________________________________________________] 18.99% 99 p/s432 / 2170 [-------------->__________________________________________________________] 19.91% 99 p/s452 / 2170 [--------------->_________________________________________________________] 20.83% 99 p/s472 / 2170 [--------------->_________________________________________________________] 21.75% 99 p/s492 / 2170 [---------------->_______________________________________________________] 22.67% 100 p/s511 / 2170 [---------------->_______________________________________________________] 23.55% 100 p/s530 / 2170 [----------------->______________________________________________________] 24.42% 100 p/s550 / 2170 [------------------>______________________________________________________] 25.35% 99 p/s570 / 2170 [------------------->_____________________________________________________] 26.27% 99 p/s589 / 2170 [------------------->_____________________________________________________] 27.14% 99 p/s609 / 2170 [-------------------->____________________________________________________] 28.06% 99 p/s629 / 2170 [--------------------->___________________________________________________] 28.99% 99 p/s649 / 2170 [--------------------->___________________________________________________] 29.91% 99 p/s669 / 2170 [---------------------->__________________________________________________] 30.83% 99 p/s688 / 2170 [----------------------->_________________________________________________] 31.71% 99 p/s708 / 2170 [----------------------->_________________________________________________] 32.63% 99 p/s728 / 2170 [------------------------>________________________________________________] 33.55% 99 p/s748 / 2170 [------------------------->_______________________________________________] 34.47% 99 p/s768 / 2170 [------------------------->_______________________________________________] 35.39% 99 p/s788 / 2170 [-------------------------->______________________________________________] 36.31% 99 p/s808 / 2170 [--------------------------->_____________________________________________] 37.24% 99 p/s828 / 2170 [--------------------------->_____________________________________________] 38.16% 99 p/s848 / 2170 [---------------------------->____________________________________________] 39.08% 99 p/s868 / 2170 [----------------------------->___________________________________________] 40.00% 99 p/s888 / 2170 [----------------------------->___________________________________________] 40.92% 99 p/s908 / 2170 [------------------------------>__________________________________________] 41.84% 99 p/s929 / 2170 [------------------------------->_________________________________________] 42.81% 99 p/s949 / 2170 [------------------------------->_________________________________________] 43.73% 99 p/s969 / 2170 [-------------------------------->_______________________________________] 44.65% 100 p/s989 / 2170 [-------------------------------->_______________________________________] 45.58% 100 p/s1005 / 2170 [-------------------------------->______________________________________] 46.31% 100 p/s1020 / 2170 [--------------------------------->______________________________________] 47.00% 99 p/s1040 / 2170 [---------------------------------->_____________________________________] 47.93% 99 p/s1060 / 2170 [----------------------------------->____________________________________] 48.85% 99 p/s1079 / 2170 [----------------------------------->____________________________________] 49.72% 99 p/s1099 / 2170 [------------------------------------>___________________________________] 50.65% 99 p/s1119 / 2170 [------------------------------------->__________________________________] 51.57% 99 p/s1140 / 2170 [------------------------------------->__________________________________] 52.53% 99 p/s1160 / 2170 [-------------------------------------->_________________________________] 53.46% 99 p/s1180 / 2170 [--------------------------------------->________________________________] 54.38% 99 p/s1200 / 2170 [--------------------------------------->________________________________] 55.30% 99 p/s1220 / 2170 [---------------------------------------->_______________________________] 56.22% 99 p/s1240 / 2170 [----------------------------------------->______________________________] 57.14% 99 p/s1260 / 2170 [----------------------------------------->______________________________] 58.06% 99 p/s1281 / 2170 [------------------------------------------>_____________________________] 59.03% 99 p/s1301 / 2170 [------------------------------------------->____________________________] 59.95% 99 p/s1321 / 2170 [------------------------------------------->____________________________] 60.88% 99 p/s1341 / 2170 [-------------------------------------------->___________________________] 61.80% 99 p/s1361 / 2170 [--------------------------------------------->__________________________] 62.72% 99 p/s1381 / 2170 [--------------------------------------------->__________________________] 63.64% 99 p/s1401 / 2170 [---------------------------------------------->_________________________] 64.56% 99 p/s1421 / 2170 [----------------------------------------------->________________________] 65.48% 99 p/s1441 / 2170 [----------------------------------------------->________________________] 66.41% 99 p/s1461 / 2170 [------------------------------------------------>_______________________] 67.33% 99 p/s1481 / 2170 [------------------------------------------------->______________________] 68.25% 99 p/s1501 / 2170 [------------------------------------------------->______________________] 69.17% 99 p/s1521 / 2170 [-------------------------------------------------->_____________________] 70.09% 99 p/s1541 / 2170 [--------------------------------------------------->____________________] 71.01% 99 p/s1561 / 2170 [--------------------------------------------------->____________________] 71.94% 99 p/s1581 / 2170 [---------------------------------------------------->___________________] 72.86% 99 p/s1601 / 2170 [----------------------------------------------------->__________________] 73.78% 99 p/s1621 / 2170 [----------------------------------------------------->__________________] 74.70% 99 p/s1642 / 2170 [------------------------------------------------------>_________________] 75.67% 99 p/s1661 / 2170 [------------------------------------------------------->________________] 76.54% 99 p/s1682 / 2170 [------------------------------------------------------->_______________] 77.51% 100 p/s1702 / 2170 [------------------------------------------------------->_______________] 78.43% 100 p/s1722 / 2170 [-------------------------------------------------------->______________] 79.35% 100 p/s1742 / 2170 [-------------------------------------------------------->______________] 80.28% 100 p/s1762 / 2170 [--------------------------------------------------------->_____________] 81.20% 100 p/s1782 / 2170 [---------------------------------------------------------->____________] 82.12% 100 p/s1802 / 2170 [---------------------------------------------------------->____________] 83.04% 100 p/s1823 / 2170 [----------------------------------------------------------->___________] 84.01% 100 p/s1843 / 2170 [------------------------------------------------------------>__________] 84.93% 100 p/s1863 / 2170 [------------------------------------------------------------>__________] 85.85% 100 p/s1883 / 2170 [------------------------------------------------------------->_________] 86.77% 100 p/s1903 / 2170 [-------------------------------------------------------------->________] 87.70% 100 p/s1923 / 2170 [-------------------------------------------------------------->________] 88.62% 100 p/s1943 / 2170 [--------------------------------------------------------------->_______] 89.54% 100 p/s1964 / 2170 [---------------------------------------------------------------->______] 90.51% 100 p/s1984 / 2170 [---------------------------------------------------------------->______] 91.43% 100 p/s2004 / 2170 [----------------------------------------------------------------->_____] 92.35% 100 p/s2024 / 2170 [------------------------------------------------------------------>____] 93.27% 100 p/s2043 / 2170 [------------------------------------------------------------------>____] 94.15% 100 p/s2064 / 2170 [------------------------------------------------------------------->___] 95.12% 100 p/s2084 / 2170 [-------------------------------------------------------------------->__] 96.04% 100 p/s2104 / 2170 [-------------------------------------------------------------------->__] 96.96% 100 p/s2124 / 2170 [--------------------------------------------------------------------->_] 97.88% 100 p/s2144 / 2170 [---------------------------------------------------------------------->] 98.80% 100 p/s2164 / 2170 [---------------------------------------------------------------------->] 99.72% 100 p/s2170 / 2170 [----------------------------------------------------------------------] 100.00% 100 p/s2026-07-16T03:33:06 - INFO: Parsing 2170 sonar sweeps from /working/2ec7c4cc-58ef-1243-c1eb-d532deadc16c/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/2170 [00:00<?, ?it/s]
  0%|          | 3/2170 [00:00<01:27, 24.65it/s]
  0%|          | 6/2170 [00:00<01:24, 25.47it/s]
  0%|          | 9/2170 [00:00<01:25, 25.42it/s]
  1%|          | 12/2170 [00:00<01:22, 26.04it/s]
  1%|          | 15/2170 [00:00<01:21, 26.54it/s]
  1%|          | 18/2170 [00:00<01:20, 26.70it/s]
  1%|          | 21/2170 [00:00<01:19, 26.91it/s]
  1%|          | 24/2170 [00:00<01:19, 27.02it/s]
  1%|          | 27/2170 [00:01<01:19, 27.06it/s]
  1%|▏         | 30/2170 [00:01<01:19, 27.08it/s]
  2%|▏         | 33/2170 [00:01<01:18, 27.14it/s]
  2%|▏         | 36/2170 [00:01<01:18, 27.15it/s]
  2%|▏         | 39/2170 [00:01<01:18, 27.17it/s]
  2%|▏         | 42/2170 [00:01<01:18, 27.21it/s]
  2%|▏         | 45/2170 [00:01<01:18, 27.22it/s]
  2%|▏         | 48/2170 [00:01<01:17, 27.21it/s]
  2%|▏         | 51/2170 [00:01<01:17, 27.23it/s]
  2%|▏         | 54/2170 [00:02<01:17, 27.22it/s]
  3%|▎         | 57/2170 [00:02<01:17, 27.21it/s]
  3%|▎         | 60/2170 [00:02<01:17, 27.21it/s]
  3%|▎         | 63/2170 [00:02<01:17, 27.23it/s]
  3%|▎         | 66/2170 [00:02<01:17, 27.24it/s]
  3%|▎         | 69/2170 [00:02<01:17, 27.18it/s]
  3%|▎         | 72/2170 [00:02<01:17, 27.20it/s]
  3%|▎         | 75/2170 [00:02<01:16, 27.21it/s]
  4%|▎         | 78/2170 [00:02<01:20, 25.88it/s]
  4%|▎         | 81/2170 [00:03<01:19, 26.26it/s]
  4%|▍         | 84/2170 [00:03<01:18, 26.53it/s]
  4%|▍         | 87/2170 [00:03<01:17, 26.73it/s]
  4%|▍         | 90/2170 [00:03<01:17, 26.86it/s]
  4%|▍         | 93/2170 [00:03<01:17, 26.71it/s]
  4%|▍         | 96/2170 [00:03<01:17, 26.59it/s]
  5%|▍         | 99/2170 [00:03<01:18, 26.41it/s]
  5%|▍         | 102/2170 [00:03<01:18, 26.26it/s]
  5%|▍         | 105/2170 [00:03<01:19, 26.07it/s]
  5%|▍         | 108/2170 [00:04<01:19, 26.02it/s]
  5%|▌         | 111/2170 [00:04<01:19, 25.94it/s]
  5%|▌         | 114/2170 [00:04<01:19, 25.74it/s]
  5%|▌         | 117/2170 [00:04<01:19, 25.74it/s]
  6%|▌         | 120/2170 [00:04<01:19, 25.65it/s]
  6%|▌         | 123/2170 [00:04<01:19, 25.65it/s]
  6%|▌         | 126/2170 [00:04<01:19, 25.64it/s]
  6%|▌         | 129/2170 [00:04<01:19, 25.67it/s]
  6%|▌         | 132/2170 [00:04<01:19, 25.65it/s]
  6%|▌         | 135/2170 [00:05<01:19, 25.56it/s]
  6%|▋         | 138/2170 [00:05<01:19, 25.57it/s]
  6%|▋         | 141/2170 [00:05<01:21, 24.78it/s]
  7%|▋         | 144/2170 [00:05<01:21, 24.94it/s]
  7%|▋         | 147/2170 [00:05<01:20, 25.19it/s]
  7%|▋         | 150/2170 [00:05<01:19, 25.28it/s]
  7%|▋         | 153/2170 [00:05<01:19, 25.32it/s]
  7%|▋         | 156/2170 [00:05<01:19, 25.36it/s]
  7%|▋         | 159/2170 [00:06<01:19, 25.42it/s]
  7%|▋         | 162/2170 [00:06<01:18, 25.43it/s]
  8%|▊         | 165/2170 [00:06<01:19, 25.38it/s]
  8%|▊         | 168/2170 [00:06<01:18, 25.47it/s]
  8%|▊         | 171/2170 [00:06<01:18, 25.47it/s]
  8%|▊         | 174/2170 [00:06<01:18, 25.36it/s]
  8%|▊         | 177/2170 [00:06<01:18, 25.40it/s]
  8%|▊         | 180/2170 [00:06<01:18, 25.45it/s]
  8%|▊         | 183/2170 [00:06<01:18, 25.37it/s]
  9%|▊         | 186/2170 [00:07<01:18, 25.26it/s]
  9%|▊         | 189/2170 [00:07<01:18, 25.21it/s]
  9%|▉         | 192/2170 [00:07<01:20, 24.66it/s]
  9%|▉         | 195/2170 [00:07<01:19, 24.82it/s]
  9%|▉         | 198/2170 [00:07<01:18, 24.99it/s]
  9%|▉         | 201/2170 [00:07<01:18, 25.03it/s]
  9%|▉         | 204/2170 [00:07<01:18, 25.10it/s]
 10%|▉         | 207/2170 [00:07<01:17, 25.21it/s]
 10%|▉         | 210/2170 [00:08<01:17, 25.25it/s]
 10%|▉         | 213/2170 [00:08<01:17, 25.22it/s]
 10%|▉         | 216/2170 [00:08<01:17, 25.34it/s]
 10%|█         | 219/2170 [00:08<01:16, 25.37it/s]
 10%|█         | 222/2170 [00:08<01:16, 25.32it/s]
 10%|█         | 225/2170 [00:08<01:16, 25.35it/s]
 11%|█         | 228/2170 [00:08<01:16, 25.35it/s]
 11%|█         | 231/2170 [00:08<01:16, 25.31it/s]
 11%|█         | 234/2170 [00:09<01:16, 25.34it/s]
 11%|█         | 237/2170 [00:09<01:16, 25.39it/s]
 11%|█         | 240/2170 [00:09<01:15, 25.40it/s]
 11%|█         | 243/2170 [00:09<01:16, 25.31it/s]
 11%|█▏        | 246/2170 [00:09<01:15, 25.41it/s]
 11%|█▏        | 249/2170 [00:09<01:15, 25.37it/s]
 12%|█▏        | 252/2170 [00:09<01:15, 25.34it/s]
 12%|█▏        | 255/2170 [00:09<01:15, 25.39it/s]
 12%|█▏        | 258/2170 [00:09<01:15, 25.37it/s]
 12%|█▏        | 261/2170 [00:10<01:16, 24.97it/s]
 12%|█▏        | 264/2170 [00:10<01:15, 25.11it/s]
 12%|█▏        | 267/2170 [00:10<01:15, 25.10it/s]
 12%|█▏        | 270/2170 [00:10<01:15, 25.17it/s]
 13%|█▎        | 273/2170 [00:10<01:17, 24.32it/s]
 13%|█▎        | 276/2170 [00:10<01:16, 24.60it/s]
 13%|█▎        | 279/2170 [00:10<01:16, 24.80it/s]
 13%|█▎        | 282/2170 [00:10<01:15, 24.92it/s]
 13%|█▎        | 285/2170 [00:11<01:15, 25.02it/s]
 13%|█▎        | 288/2170 [00:11<01:14, 25.15it/s]
 13%|█▎        | 291/2170 [00:11<01:14, 25.15it/s]
 14%|█▎        | 294/2170 [00:11<01:14, 25.08it/s]
 14%|█▎        | 297/2170 [00:11<01:14, 25.12it/s]
 14%|█▍        | 300/2170 [00:11<01:14, 25.14it/s]
 14%|█▍        | 303/2170 [00:11<01:13, 25.28it/s]
 14%|█▍        | 306/2170 [00:11<01:14, 25.16it/s]
 14%|█▍        | 309/2170 [00:12<01:14, 25.02it/s]
 14%|█▍        | 312/2170 [00:12<01:14, 25.09it/s]
 15%|█▍        | 315/2170 [00:12<01:13, 25.16it/s]
 15%|█▍        | 318/2170 [00:12<01:13, 25.20it/s]
 15%|█▍        | 321/2170 [00:12<01:13, 25.18it/s]
 15%|█▍        | 324/2170 [00:12<01:15, 24.52it/s]
 15%|█▌        | 327/2170 [00:12<01:14, 24.73it/s]
 15%|█▌        | 330/2170 [00:12<01:13, 24.87it/s]
 15%|█▌        | 333/2170 [00:12<01:13, 24.99it/s]
 15%|█▌        | 336/2170 [00:13<01:13, 24.96it/s]
 16%|█▌        | 339/2170 [00:13<01:13, 25.07it/s]
 16%|█▌        | 342/2170 [00:13<01:12, 25.13it/s]
 16%|█▌        | 345/2170 [00:13<01:12, 25.11it/s]
 16%|█▌        | 348/2170 [00:13<01:12, 25.03it/s]
 16%|█▌        | 351/2170 [00:13<01:12, 25.14it/s]
 16%|█▋        | 354/2170 [00:13<01:12, 25.17it/s]
 16%|█▋        | 357/2170 [00:13<01:12, 25.13it/s]
 17%|█▋        | 360/2170 [00:14<01:11, 25.17it/s]
 17%|█▋        | 363/2170 [00:14<01:11, 25.12it/s]
 17%|█▋        | 366/2170 [00:14<01:11, 25.11it/s]
 17%|█▋        | 369/2170 [00:14<01:11, 25.11it/s]
 17%|█▋        | 372/2170 [00:14<01:11, 25.12it/s]
 17%|█▋        | 375/2170 [00:14<01:11, 25.13it/s]
 17%|█▋        | 378/2170 [00:14<01:11, 25.16it/s]
 18%|█▊        | 381/2170 [00:14<01:11, 25.10it/s]
 18%|█▊        | 384/2170 [00:15<01:11, 25.09it/s]
 18%|█▊        | 387/2170 [00:15<01:10, 25.12it/s]
 18%|█▊        | 390/2170 [00:15<01:10, 25.16it/s]
 18%|█▊        | 393/2170 [00:15<01:10, 25.17it/s]
 18%|█▊        | 396/2170 [00:15<01:10, 25.06it/s]
 18%|█▊        | 399/2170 [00:15<01:10, 25.17it/s]
 19%|█▊        | 402/2170 [00:15<01:10, 25.21it/s]
 19%|█▊        | 405/2170 [00:15<01:10, 25.17it/s]
 19%|█▉        | 408/2170 [00:15<01:13, 24.00it/s]
 19%|█▉        | 411/2170 [00:16<01:12, 24.39it/s]
 19%|█▉        | 414/2170 [00:16<01:11, 24.58it/s]
 19%|█▉        | 417/2170 [00:16<01:10, 24.79it/s]
 19%|█▉        | 420/2170 [00:16<01:10, 24.90it/s]
 19%|█▉        | 423/2170 [00:16<01:10, 24.87it/s]
 20%|█▉        | 426/2170 [00:16<01:09, 24.96it/s]
 20%|█▉        | 429/2170 [00:16<01:09, 25.00it/s]
 20%|█▉        | 432/2170 [00:16<01:09, 25.06it/s]
 20%|██        | 435/2170 [00:17<01:09, 25.12it/s]
 20%|██        | 438/2170 [00:17<01:08, 25.16it/s]
 20%|██        | 441/2170 [00:17<01:08, 25.18it/s]
 20%|██        | 444/2170 [00:17<01:08, 25.20it/s]
 21%|██        | 447/2170 [00:17<01:08, 25.19it/s]
 21%|██        | 450/2170 [00:17<01:08, 24.96it/s]
 21%|██        | 453/2170 [00:17<01:08, 25.03it/s]
 21%|██        | 456/2170 [00:17<01:08, 25.05it/s]
 21%|██        | 459/2170 [00:18<01:08, 25.08it/s]
 21%|██▏       | 462/2170 [00:18<01:07, 25.13it/s]
 21%|██▏       | 465/2170 [00:18<01:07, 25.12it/s]
 22%|██▏       | 468/2170 [00:18<01:07, 25.07it/s]
 22%|██▏       | 471/2170 [00:18<01:07, 25.02it/s]
 22%|██▏       | 474/2170 [00:18<01:07, 25.06it/s]
 22%|██▏       | 477/2170 [00:18<01:07, 25.07it/s]
 22%|██▏       | 480/2170 [00:18<01:07, 25.03it/s]
 22%|██▏       | 483/2170 [00:18<01:07, 25.13it/s]
 22%|██▏       | 486/2170 [00:19<01:07, 25.12it/s]
 23%|██▎       | 489/2170 [00:19<01:06, 25.11it/s]
 23%|██▎       | 492/2170 [00:19<01:06, 25.17it/s]
 23%|██▎       | 495/2170 [00:19<01:06, 25.17it/s]
 23%|██▎       | 498/2170 [00:19<01:06, 25.13it/s]
 23%|██▎       | 501/2170 [00:19<01:06, 25.18it/s]
 23%|██▎       | 504/2170 [00:19<01:06, 25.13it/s]
 23%|██▎       | 507/2170 [00:19<01:06, 25.07it/s]
 24%|██▎       | 510/2170 [00:20<01:06, 25.04it/s]
 24%|██▎       | 513/2170 [00:20<01:06, 25.02it/s]
 24%|██▍       | 516/2170 [00:20<01:06, 25.05it/s]
 24%|██▍       | 519/2170 [00:20<01:06, 25.01it/s]
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2026-07-16T03:34:34 - WARNING: Expected 400 beams, got 155, dropping sweep 2169
2026-07-16T03:34:34 - 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/2ec7c4cc-58ef-1243-c1eb-d532deadc16c/2ec7c4cc-58ef-1243-c1eb-d532deadc16c"
2026-07-16T03:34:35 - INFO: DataPrep 0.14.7
2026-07-16T03:34:35 - INFO: Prepared data will be output to /working/2ec7c4cc-58ef-1243-c1eb-d532deadc16c/2ec7c4cc-58ef-1243-c1eb-d532deadc16c/processing/data
2026-07-16T03:34:35 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-16T03:34:35 - deployment - INFO: Detected P3D version: P3D_1
2026-07-16T03:34:35 - INFO: Recording GUID: 2ec7c4cc-58ef-1243-c1eb-d532deadc16c
2026-07-16T03:34:35 - INFO: Preparing sonar data...
2026-07-16T03:34:35 - INFO: /working/2ec7c4cc-58ef-1243-c1eb-d532deadc16c/2ec7c4cc-58ef-1243-c1eb-d532deadc16c/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-16T03:34:37 - INFO: Sonar epoch is 2026-03-13 15:19:58.275505+00:00 (1773415198275505293)
2026-07-16T03:34:37 - INFO: Creating sonar sensor alignment track...
2026-07-16T03:34:37 - INFO: Using sonar rotation of -0.034907 radians for wedge mask
2026-07-16T03:34:37 - INFO: Sensor speed of sound is 1500 m/s
2026-07-16T03:34:37 - INFO: Sensor range is 1.589280 m
2026-07-16T03:34:37 - INFO: Sensor micrometres per sample is 5280.000031
2026-07-16T03:34:37 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-16T03:34:37 - INFO: Scaled range is 1.583441 m
2026-07-16T03:34:37 - INFO: Scaled micrometres per sample is 5260.599863
2026-07-16T03:34:37 - INFO: Processing 2169 sweeps...

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2026-07-16T03:34:43 - INFO: Prepared sonar data in 7.7477 s
2026-07-16T03:34:43 - INFO: No IMU data found
2026-07-16T03:34:43 - INFO: DataPrep took 0:00:08.010300
2026-07-16T03:34:43 - INFO: Extracted sonar data in 0:01:58.928123
2026-07-16T03:34:44 - INFO: MSIP3D took 0:01:59.211287