+ [ 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/eaea867d-008b-f5cf-8879-b575884ce28f
2026-07-16T03:24:04 - INFO: MSIP3D 0.2.8
2026-07-16T03:24:04 - INFO: P3D files will be output to /working/eaea867d-008b-f5cf-8879-b575884ce28f/eaea867d-008b-f5cf-8879-b575884ce28f
2026-07-16T03:24:04 - INFO: Found 10 TFD dictionary entries
2026-07-16T03:24:04 - INFO: Found TFD mission for 2490SS
2026-07-16T03:24:04 - INFO: Recording will be processed as MD
2026-07-16T03:24:04 - INFO: Copying assets JSON to output directory...
2026-07-16T03:24:04 - INFO: Preparing counter data...
2026-07-16T03:24:04 - INFO: Interpreting counter as imperial
2026-07-16T03:24:04 - INFO: Preparing size track from assets JSON...
2026-07-16T03:24:04 - INFO: Preparing shape track from assets JSON...
2026-07-16T03:24:04 - INFO: Preparing material track from assets JSON...
2026-07-16T03:24:04 - INFO: Prepared counter data in 0.0556 s
2026-07-16T03:24:04 - INFO: Extracting sonar data...
TFD path: /working/eaea867d-008b-f5cf-8879-b575884ce28f/tfd/2490SS.tfd
TFD path: /working/eaea867d-008b-f5cf-8879-b575884ce28f/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855215965616818755
Name: LASER, Tag: 4855215965616818764
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Getting track SONAR
Number of frames: 1573
22 / 1573 [->__________________________________________________________________________] 1.40% ? p/s44 / 1573 [-->_________________________________________________________________________] 2.80% ? p/s65 / 1573 [--->________________________________________________________________________] 4.13% ? p/s87 / 1573 [---->_____________________________________________________________________] 5.53% 108 p/s106 / 1573 [---->____________________________________________________________________] 6.74% 108 p/s127 / 1573 [----->___________________________________________________________________] 8.07% 108 p/s149 / 1573 [------>__________________________________________________________________] 9.47% 108 p/s172 / 1573 [------->________________________________________________________________] 10.93% 108 p/s194 / 1573 [-------->_______________________________________________________________] 12.33% 108 p/s217 / 1573 [--------->______________________________________________________________] 13.80% 108 p/s239 / 1573 [---------->_____________________________________________________________] 15.19% 108 p/s261 / 1573 [----------->____________________________________________________________] 16.59% 108 p/s284 / 1573 [------------>___________________________________________________________] 18.05% 109 p/s305 / 1573 [------------->__________________________________________________________] 19.39% 109 p/s328 / 1573 [--------------->________________________________________________________] 20.85% 109 p/s349 / 1573 [--------------->________________________________________________________] 22.19% 109 p/s371 / 1573 [---------------->_______________________________________________________] 23.59% 109 p/s392 / 1573 [----------------->______________________________________________________] 24.92% 109 p/s414 / 1573 [------------------>_____________________________________________________] 26.32% 109 p/s436 / 1573 [------------------->____________________________________________________] 27.72% 109 p/s458 / 1573 [-------------------->___________________________________________________] 29.12% 109 p/s480 / 1573 [--------------------->__________________________________________________] 30.51% 109 p/s502 / 1573 [---------------------->_________________________________________________] 31.91% 109 p/s523 / 1573 [----------------------->________________________________________________] 33.25% 109 p/s546 / 1573 [------------------------>_______________________________________________] 34.71% 109 p/s568 / 1573 [------------------------->______________________________________________] 36.11% 109 p/s577 / 1573 [-------------------------->_____________________________________________] 36.68% 109 p/s593 / 1573 [--------------------------->____________________________________________] 37.70% 107 p/s615 / 1573 [---------------------------->___________________________________________] 39.10% 107 p/s637 / 1573 [----------------------------->__________________________________________] 40.50% 107 p/s659 / 1573 [------------------------------>_________________________________________] 41.89% 107 p/s681 / 1573 [------------------------------->________________________________________] 43.29% 107 p/s703 / 1573 [-------------------------------->_______________________________________] 44.69% 107 p/s725 / 1573 [--------------------------------->______________________________________] 46.09% 107 p/s747 / 1573 [---------------------------------->_____________________________________] 47.49% 107 p/s770 / 1573 [----------------------------------->____________________________________] 48.95% 107 p/s792 / 1573 [------------------------------------>___________________________________] 50.35% 108 p/s814 / 1573 [------------------------------------->__________________________________] 51.75% 108 p/s836 / 1573 [-------------------------------------->_________________________________] 53.15% 108 p/s858 / 1573 [--------------------------------------->________________________________] 54.55% 108 p/s880 / 1573 [---------------------------------------->_______________________________] 55.94% 108 p/s903 / 1573 [----------------------------------------->______________________________] 57.41% 108 p/s925 / 1573 [------------------------------------------>_____________________________] 58.80% 108 p/s946 / 1573 [------------------------------------------->____________________________] 60.14% 108 p/s969 / 1573 [-------------------------------------------->___________________________] 61.60% 108 p/s991 / 1573 [--------------------------------------------->__________________________] 63.00% 108 p/s1013 / 1573 [--------------------------------------------->_________________________] 64.40% 108 p/s1034 / 1573 [---------------------------------------------->________________________] 65.73% 108 p/s1056 / 1573 [----------------------------------------------->_______________________] 67.13% 108 p/s1078 / 1573 [------------------------------------------------>______________________] 68.53% 108 p/s1101 / 1573 [------------------------------------------------->_____________________] 69.99% 108 p/s1123 / 1573 [-------------------------------------------------->____________________] 71.39% 108 p/s1146 / 1573 [--------------------------------------------------->___________________] 72.85% 108 p/s1168 / 1573 [---------------------------------------------------->__________________] 74.25% 108 p/s1190 / 1573 [----------------------------------------------------->_________________] 75.65% 109 p/s1213 / 1573 [------------------------------------------------------>________________] 77.11% 109 p/s1235 / 1573 [------------------------------------------------------->_______________] 78.51% 109 p/s1257 / 1573 [-------------------------------------------------------->______________] 79.91% 109 p/s1279 / 1573 [--------------------------------------------------------->_____________] 81.31% 109 p/s1301 / 1573 [---------------------------------------------------------->____________] 82.71% 109 p/s1324 / 1573 [----------------------------------------------------------->___________] 84.17% 109 p/s1346 / 1573 [------------------------------------------------------------>__________] 85.57% 109 p/s1368 / 1573 [------------------------------------------------------------->_________] 86.97% 109 p/s1390 / 1573 [-------------------------------------------------------------->________] 88.37% 109 p/s1412 / 1573 [--------------------------------------------------------------->_______] 89.76% 109 p/s1435 / 1573 [---------------------------------------------------------------->______] 91.23% 109 p/s1457 / 1573 [----------------------------------------------------------------->_____] 92.63% 109 p/s1479 / 1573 [------------------------------------------------------------------>____] 94.02% 109 p/s1501 / 1573 [------------------------------------------------------------------->___] 95.42% 109 p/s1524 / 1573 [-------------------------------------------------------------------->__] 96.88% 109 p/s1547 / 1573 [--------------------------------------------------------------------->_] 98.35% 109 p/s1570 / 1573 [---------------------------------------------------------------------->] 99.81% 109 p/s1573 / 1573 [----------------------------------------------------------------------] 100.00% 111 p/s2026-07-16T03:24:18 - INFO: Parsing 1573 sonar sweeps from /working/eaea867d-008b-f5cf-8879-b575884ce28f/tfd/output/SONAR/all-sweeps-info.csv...

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2026-07-16T03:25:16 - WARNING: Expected 400 beams, got 181, dropping sweep 1572
2026-07-16T03:25:16 - 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/eaea867d-008b-f5cf-8879-b575884ce28f/eaea867d-008b-f5cf-8879-b575884ce28f"
2026-07-16T03:25:18 - INFO: DataPrep 0.14.7
2026-07-16T03:25:18 - INFO: Prepared data will be output to /working/eaea867d-008b-f5cf-8879-b575884ce28f/eaea867d-008b-f5cf-8879-b575884ce28f/processing/data
2026-07-16T03:25:18 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-16T03:25:18 - deployment - INFO: Detected P3D version: P3D_1
2026-07-16T03:25:18 - INFO: Recording GUID: eaea867d-008b-f5cf-8879-b575884ce28f
2026-07-16T03:25:18 - INFO: Preparing sonar data...
2026-07-16T03:25:18 - INFO: /working/eaea867d-008b-f5cf-8879-b575884ce28f/eaea867d-008b-f5cf-8879-b575884ce28f/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-16T03:25:19 - INFO: Sonar epoch is 2026-02-20 16:43:29.607919+00:00 (1771605809607919305)
2026-07-16T03:25:19 - INFO: Creating sonar sensor alignment track...
2026-07-16T03:25:19 - INFO: Using sonar rotation of 0.244346 radians for wedge mask
2026-07-16T03:25:19 - INFO: Sensor speed of sound is 1500 m/s
2026-07-16T03:25:19 - INFO: Sensor range is 0.722400 m
2026-07-16T03:25:19 - INFO: Sensor micrometres per sample is 2400.000032
2026-07-16T03:25:19 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-16T03:25:19 - INFO: Scaled range is 0.719746 m
2026-07-16T03:25:19 - INFO: Scaled micrometres per sample is 2391.181774
2026-07-16T03:25:19 - INFO: Processing 1572 sweeps...

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2026-07-16T03:25:25 - INFO: Prepared sonar data in 7.1661 s
2026-07-16T03:25:25 - INFO: No IMU data found
2026-07-16T03:25:25 - INFO: DataPrep took 0:00:07.373645
2026-07-16T03:25:25 - INFO: Extracted sonar data in 0:01:21.596446
2026-07-16T03:25:26 - INFO: MSIP3D took 0:01:21.791557