+ [ 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/b795e2de-d6e5-0fa6-1e15-ce0a398506b8
2026-07-16T03:32:54 - INFO: MSIP3D 0.2.8
2026-07-16T03:32:54 - INFO: P3D files will be output to /working/b795e2de-d6e5-0fa6-1e15-ce0a398506b8/b795e2de-d6e5-0fa6-1e15-ce0a398506b8
2026-07-16T03:32:54 - INFO: Found 10 TFD dictionary entries
2026-07-16T03:32:54 - INFO: Found TFD mission for 2409SS
2026-07-16T03:32:54 - INFO: Recording will be processed as MD
2026-07-16T03:32:54 - INFO: Copying assets JSON to output directory...
2026-07-16T03:32:54 - INFO: Preparing counter data...
2026-07-16T03:32:54 - INFO: Interpreting counter as imperial
2026-07-16T03:32:54 - INFO: Preparing size track from assets JSON...
2026-07-16T03:32:54 - INFO: Preparing shape track from assets JSON...
2026-07-16T03:32:54 - INFO: Preparing material track from assets JSON...
2026-07-16T03:32:54 - INFO: Prepared counter data in 0.1404 s
2026-07-16T03:32:54 - INFO: Extracting sonar data...
TFD path: /working/b795e2de-d6e5-0fa6-1e15-ce0a398506b8/tfd/2409SS.tfd
TFD path: /working/b795e2de-d6e5-0fa6-1e15-ce0a398506b8/tfd/output
Name: CCTV, Tag: 4855215965616818755
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Name: SONAR, Tag: 6012080331585573559
Name: LASER, Tag: 4855215965616818764
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Getting track SONAR
Number of frames: 4149
22 / 4149 [>___________________________________________________________________________] 0.53% ? p/s45 / 4149 [>___________________________________________________________________________] 1.08% ? p/s68 / 4149 [->__________________________________________________________________________] 1.64% ? p/s91 / 4149 [->________________________________________________________________________] 2.19% 115 p/s113 / 4149 [->_______________________________________________________________________] 2.72% 115 p/s133 / 4149 [-->______________________________________________________________________] 3.21% 115 p/s156 / 4149 [-->______________________________________________________________________] 3.76% 115 p/s179 / 4149 [--->_____________________________________________________________________] 4.31% 115 p/s202 / 4149 [--->_____________________________________________________________________] 4.87% 115 p/s225 / 4149 [--->_____________________________________________________________________] 5.42% 115 p/s248 / 4149 [---->____________________________________________________________________] 5.98% 115 p/s270 / 4149 [---->____________________________________________________________________] 6.51% 115 p/s293 / 4149 [----->___________________________________________________________________] 7.06% 115 p/s315 / 4149 [----->___________________________________________________________________] 7.59% 115 p/s338 / 4149 [----->___________________________________________________________________] 8.15% 115 p/s361 / 4149 [------>__________________________________________________________________] 8.70% 114 p/s384 / 4149 [------>__________________________________________________________________] 9.26% 114 p/s407 / 4149 [------->_________________________________________________________________] 9.81% 114 p/s430 / 4149 [------->________________________________________________________________] 10.36% 114 p/s452 / 4149 [------->________________________________________________________________] 10.89% 114 p/s475 / 4149 [-------->_______________________________________________________________] 11.45% 114 p/s499 / 4149 [-------->_______________________________________________________________] 12.03% 115 p/s520 / 4149 [--------->______________________________________________________________] 12.53% 115 p/s543 / 4149 [--------->______________________________________________________________] 13.09% 115 p/s565 / 4149 [--------->______________________________________________________________] 13.62% 114 p/s588 / 4149 [---------->_____________________________________________________________] 14.17% 114 p/s610 / 4149 [---------->_____________________________________________________________] 14.70% 114 p/s633 / 4149 [---------->_____________________________________________________________] 15.26% 114 p/s656 / 4149 [----------->____________________________________________________________] 15.81% 114 p/s679 / 4149 [----------->____________________________________________________________] 16.37% 114 p/s701 / 4149 [------------>___________________________________________________________] 16.90% 114 p/s724 / 4149 [------------>___________________________________________________________] 17.45% 114 p/s746 / 4149 [------------>___________________________________________________________] 17.98% 114 p/s769 / 4149 [------------->__________________________________________________________] 18.53% 114 p/s792 / 4149 [------------->__________________________________________________________] 19.09% 114 p/s815 / 4149 [-------------->_________________________________________________________] 19.64% 114 p/s838 / 4149 [-------------->_________________________________________________________] 20.20% 114 p/s860 / 4149 [-------------->_________________________________________________________] 20.73% 114 p/s883 / 4149 [--------------->________________________________________________________] 21.28% 114 p/s906 / 4149 [--------------->________________________________________________________] 21.84% 114 p/s929 / 4149 [---------------->_______________________________________________________] 22.39% 114 p/s952 / 4149 [---------------->_______________________________________________________] 22.95% 114 p/s975 / 4149 [---------------->_______________________________________________________] 23.50% 114 p/s997 / 4149 [----------------->______________________________________________________] 24.03% 114 p/s1019 / 4149 [----------------->_____________________________________________________] 24.56% 114 p/s1042 / 4149 [----------------->_____________________________________________________] 25.11% 114 p/s1065 / 4149 [------------------>____________________________________________________] 25.67% 114 p/s1087 / 4149 [------------------>____________________________________________________] 26.20% 114 p/s1110 / 4149 [------------------>____________________________________________________] 26.75% 114 p/s1133 / 4149 [------------------->___________________________________________________] 27.31% 114 p/s1155 / 4149 [------------------->___________________________________________________] 27.84% 114 p/s1178 / 4149 [-------------------->__________________________________________________] 28.39% 114 p/s1201 / 4149 [-------------------->__________________________________________________] 28.95% 114 p/s1224 / 4149 [-------------------->__________________________________________________] 29.50% 114 p/s1247 / 4149 [--------------------->_________________________________________________] 30.06% 114 p/s1270 / 4149 [--------------------->_________________________________________________] 30.61% 114 p/s1293 / 4149 [---------------------->________________________________________________] 31.16% 114 p/s1315 / 4149 [---------------------->________________________________________________] 31.69% 114 p/s1338 / 4149 [---------------------->________________________________________________] 32.25% 114 p/s1361 / 4149 [----------------------->_______________________________________________] 32.80% 114 p/s1384 / 4149 [----------------------->_______________________________________________] 33.36% 114 p/s1406 / 4149 [------------------------>______________________________________________] 33.89% 114 p/s1429 / 4149 [------------------------>______________________________________________] 34.44% 114 p/s1452 / 4149 [------------------------>______________________________________________] 35.00% 114 p/s1475 / 4149 [------------------------->_____________________________________________] 35.55% 114 p/s1497 / 4149 [------------------------->_____________________________________________] 36.08% 114 p/s1520 / 4149 [-------------------------->____________________________________________] 36.64% 114 p/s1543 / 4149 [-------------------------->____________________________________________] 37.19% 114 p/s1566 / 4149 [-------------------------->____________________________________________] 37.74% 114 p/s1588 / 4149 [--------------------------->___________________________________________] 38.27% 114 p/s1611 / 4149 [--------------------------->___________________________________________] 38.83% 114 p/s1634 / 4149 [--------------------------->___________________________________________] 39.38% 114 p/s1657 / 4149 [---------------------------->__________________________________________] 39.94% 114 p/s1679 / 4149 [---------------------------->__________________________________________] 40.47% 114 p/s1702 / 4149 [----------------------------->_________________________________________] 41.02% 114 p/s1724 / 4149 [----------------------------->_________________________________________] 41.55% 114 p/s1747 / 4149 [----------------------------->_________________________________________] 42.11% 114 p/s1770 / 4149 [------------------------------>________________________________________] 42.66% 114 p/s1793 / 4149 [------------------------------>________________________________________] 43.22% 114 p/s1816 / 4149 [------------------------------->_______________________________________] 43.77% 114 p/s1839 / 4149 [------------------------------->_______________________________________] 44.32% 114 p/s1861 / 4149 [------------------------------->_______________________________________] 44.85% 114 p/s1884 / 4149 [-------------------------------->______________________________________] 45.41% 114 p/s1907 / 4149 [-------------------------------->______________________________________] 45.96% 114 p/s1930 / 4149 [--------------------------------->_____________________________________] 46.52% 114 p/s1953 / 4149 [--------------------------------->_____________________________________] 47.07% 114 p/s1975 / 4149 [--------------------------------->_____________________________________] 47.60% 114 p/s1998 / 4149 [---------------------------------->____________________________________] 48.16% 114 p/s2021 / 4149 [---------------------------------->____________________________________] 48.71% 114 p/s2042 / 4149 [---------------------------------->____________________________________] 49.22% 114 p/s2065 / 4149 [----------------------------------->___________________________________] 49.77% 114 p/s2088 / 4149 [----------------------------------->___________________________________] 50.33% 114 p/s2110 / 4149 [------------------------------------>__________________________________] 50.86% 114 p/s2133 / 4149 [------------------------------------>__________________________________] 51.41% 114 p/s2156 / 4149 [------------------------------------>__________________________________] 51.96% 114 p/s2178 / 4149 [------------------------------------->_________________________________] 52.49% 114 p/s2201 / 4149 [------------------------------------->_________________________________] 53.05% 114 p/s2224 / 4149 [-------------------------------------->________________________________] 53.60% 114 p/s2247 / 4149 [-------------------------------------->________________________________] 54.16% 114 p/s2269 / 4149 [-------------------------------------->________________________________] 54.69% 114 p/s2292 / 4149 [--------------------------------------->_______________________________] 55.24% 114 p/s2315 / 4149 [--------------------------------------->_______________________________] 55.80% 114 p/s2337 / 4149 [--------------------------------------->_______________________________] 56.33% 114 p/s2360 / 4149 [---------------------------------------->______________________________] 56.88% 114 p/s2383 / 4149 [---------------------------------------->______________________________] 57.44% 114 p/s2406 / 4149 [----------------------------------------->_____________________________] 57.99% 114 p/s2428 / 4149 [----------------------------------------->_____________________________] 58.52% 114 p/s2451 / 4149 [----------------------------------------->_____________________________] 59.07% 114 p/s2474 / 4149 [------------------------------------------>____________________________] 59.63% 114 p/s2495 / 4149 [------------------------------------------>____________________________] 60.13% 114 p/s2518 / 4149 [------------------------------------------->___________________________] 60.69% 114 p/s2540 / 4149 [------------------------------------------->___________________________] 61.22% 113 p/s2563 / 4149 [------------------------------------------->___________________________] 61.77% 113 p/s2586 / 4149 [-------------------------------------------->__________________________] 62.33% 113 p/s2608 / 4149 [-------------------------------------------->__________________________] 62.86% 113 p/s2630 / 4149 [--------------------------------------------->_________________________] 63.39% 113 p/s2653 / 4149 [--------------------------------------------->_________________________] 63.94% 113 p/s2676 / 4149 [--------------------------------------------->_________________________] 64.50% 113 p/s2699 / 4149 [---------------------------------------------->________________________] 65.05% 113 p/s2721 / 4149 [---------------------------------------------->________________________] 65.58% 113 p/s2744 / 4149 [---------------------------------------------->________________________] 66.14% 113 p/s2766 / 4149 [----------------------------------------------->_______________________] 66.67% 113 p/s2784 / 4149 [----------------------------------------------->_______________________] 67.10% 113 p/s2804 / 4149 [----------------------------------------------->_______________________] 67.58% 113 p/s2827 / 4149 [------------------------------------------------>______________________] 68.14% 113 p/s2850 / 4149 [------------------------------------------------>______________________] 68.69% 113 p/s2872 / 4149 [------------------------------------------------->_____________________] 69.22% 113 p/s2895 / 4149 [------------------------------------------------->_____________________] 69.78% 113 p/s2918 / 4149 [------------------------------------------------->_____________________] 70.33% 113 p/s2940 / 4149 [-------------------------------------------------->____________________] 70.86% 113 p/s2963 / 4149 [-------------------------------------------------->____________________] 71.41% 113 p/s2986 / 4149 [--------------------------------------------------->___________________] 71.97% 113 p/s3008 / 4149 [--------------------------------------------------->___________________] 72.50% 113 p/s3030 / 4149 [--------------------------------------------------->___________________] 73.03% 113 p/s3053 / 4149 [---------------------------------------------------->__________________] 73.58% 113 p/s3075 / 4149 [---------------------------------------------------->__________________] 74.11% 113 p/s3098 / 4149 [----------------------------------------------------->_________________] 74.67% 113 p/s3120 / 4149 [----------------------------------------------------->_________________] 75.20% 113 p/s3143 / 4149 [----------------------------------------------------->_________________] 75.75% 113 p/s3165 / 4149 [------------------------------------------------------>________________] 76.28% 113 p/s3188 / 4149 [------------------------------------------------------>________________] 76.84% 113 p/s3211 / 4149 [------------------------------------------------------>________________] 77.39% 113 p/s3233 / 4149 [------------------------------------------------------->_______________] 77.92% 113 p/s3256 / 4149 [------------------------------------------------------->_______________] 78.48% 113 p/s3279 / 4149 [-------------------------------------------------------->______________] 79.03% 113 p/s3302 / 4149 [-------------------------------------------------------->______________] 79.59% 113 p/s3325 / 4149 [-------------------------------------------------------->______________] 80.14% 113 p/s3347 / 4149 [--------------------------------------------------------->_____________] 80.67% 113 p/s3370 / 4149 [--------------------------------------------------------->_____________] 81.22% 113 p/s3393 / 4149 [---------------------------------------------------------->____________] 81.78% 113 p/s3416 / 4149 [---------------------------------------------------------->____________] 82.33% 113 p/s3439 / 4149 [---------------------------------------------------------->____________] 82.89% 113 p/s3461 / 4149 [----------------------------------------------------------->___________] 83.42% 113 p/s3484 / 4149 [----------------------------------------------------------->___________] 83.97% 113 p/s3507 / 4149 [------------------------------------------------------------>__________] 84.53% 113 p/s3530 / 4149 [------------------------------------------------------------>__________] 85.08% 113 p/s3552 / 4149 [------------------------------------------------------------>__________] 85.61% 113 p/s3575 / 4149 [------------------------------------------------------------->_________] 86.17% 113 p/s3597 / 4149 [------------------------------------------------------------->_________] 86.70% 113 p/s3619 / 4149 [------------------------------------------------------------->_________] 87.23% 113 p/s3641 / 4149 [-------------------------------------------------------------->________] 87.76% 113 p/s3664 / 4149 [-------------------------------------------------------------->________] 88.31% 113 p/s3687 / 4149 [--------------------------------------------------------------->_______] 88.86% 113 p/s3710 / 4149 [--------------------------------------------------------------->_______] 89.42% 113 p/s3733 / 4149 [--------------------------------------------------------------->_______] 89.97% 113 p/s3756 / 4149 [---------------------------------------------------------------->______] 90.53% 113 p/s3779 / 4149 [---------------------------------------------------------------->______] 91.08% 113 p/s3801 / 4149 [----------------------------------------------------------------->_____] 91.61% 113 p/s3824 / 4149 [----------------------------------------------------------------->_____] 92.17% 113 p/s3847 / 4149 [----------------------------------------------------------------->_____] 92.72% 113 p/s3870 / 4149 [------------------------------------------------------------------>____] 93.28% 113 p/s3892 / 4149 [------------------------------------------------------------------>____] 93.81% 113 p/s3916 / 4149 [------------------------------------------------------------------->___] 94.38% 113 p/s3938 / 4149 [------------------------------------------------------------------->___] 94.91% 113 p/s3961 / 4149 [------------------------------------------------------------------->___] 95.47% 113 p/s3984 / 4149 [-------------------------------------------------------------------->__] 96.02% 113 p/s4007 / 4149 [-------------------------------------------------------------------->__] 96.58% 113 p/s4029 / 4149 [-------------------------------------------------------------------->__] 97.11% 113 p/s4053 / 4149 [--------------------------------------------------------------------->_] 97.69% 113 p/s4075 / 4149 [--------------------------------------------------------------------->_] 98.22% 113 p/s4097 / 4149 [---------------------------------------------------------------------->] 98.75% 113 p/s4120 / 4149 [---------------------------------------------------------------------->] 99.30% 113 p/s4143 / 4149 [---------------------------------------------------------------------->] 99.86% 113 p/s4149 / 4149 [----------------------------------------------------------------------] 100.00% 114 p/s2026-07-16T03:33:31 - INFO: Parsing 4149 sonar sweeps from /working/b795e2de-d6e5-0fa6-1e15-ce0a398506b8/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/4149 [00:00<?, ?it/s]
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2026-07-16T03:36:03 - WARNING: Expected 400 beams, got 198, dropping sweep 4148
2026-07-16T03:36:03 - 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/b795e2de-d6e5-0fa6-1e15-ce0a398506b8/b795e2de-d6e5-0fa6-1e15-ce0a398506b8"
2026-07-16T03:36:04 - INFO: DataPrep 0.14.7
2026-07-16T03:36:04 - INFO: Prepared data will be output to /working/b795e2de-d6e5-0fa6-1e15-ce0a398506b8/b795e2de-d6e5-0fa6-1e15-ce0a398506b8/processing/data
2026-07-16T03:36:04 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-16T03:36:04 - deployment - INFO: Detected P3D version: P3D_1
2026-07-16T03:36:04 - INFO: Recording GUID: b795e2de-d6e5-0fa6-1e15-ce0a398506b8
2026-07-16T03:36:04 - INFO: Preparing sonar data...
2026-07-16T03:36:04 - INFO: /working/b795e2de-d6e5-0fa6-1e15-ce0a398506b8/b795e2de-d6e5-0fa6-1e15-ce0a398506b8/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-16T03:36:08 - INFO: Sonar epoch is 2026-03-09 15:33:50.366696+00:00 (1773070430366696420)
2026-07-16T03:36:08 - INFO: Creating sonar sensor alignment track...
2026-07-16T03:36:08 - INFO: Using sonar rotation of 0.226893 radians for wedge mask
2026-07-16T03:36:08 - INFO: Sensor speed of sound is 1500 m/s
2026-07-16T03:36:08 - INFO: Sensor range is 0.794640 m
2026-07-16T03:36:08 - INFO: Sensor micrometres per sample is 2640.000015
2026-07-16T03:36:08 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-16T03:36:08 - INFO: Scaled range is 0.791720 m
2026-07-16T03:36:08 - INFO: Scaled micrometres per sample is 2630.299931
2026-07-16T03:36:08 - INFO: Processing 4148 sweeps...

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2026-07-16T03:36:19 - INFO: Prepared sonar data in 14.3855 s
2026-07-16T03:36:19 - INFO: No IMU data found
2026-07-16T03:36:19 - INFO: DataPrep took 0:00:14.876293
2026-07-16T03:36:19 - INFO: Extracted sonar data in 0:03:25.120126
2026-07-16T03:36:20 - INFO: MSIP3D took 0:03:25.637327