+ [ 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/54ed0cc0-4a0a-2802-9721-ceacbcf85df9
2026-07-16T05:09:15 - INFO: MSIP3D 0.2.8
2026-07-16T05:09:15 - INFO: P3D files will be output to /working/54ed0cc0-4a0a-2802-9721-ceacbcf85df9/54ed0cc0-4a0a-2802-9721-ceacbcf85df9
2026-07-16T05:09:15 - INFO: Found 11 TFD dictionary entries
2026-07-16T05:09:16 - INFO: Found TFD mission for 2376SS
2026-07-16T05:09:16 - INFO: Recording will be processed as SMD
2026-07-16T05:09:16 - INFO: Copying assets JSON to output directory...
2026-07-16T05:09:16 - INFO: Preparing counter data...
2026-07-16T05:09:16 - INFO: Interpreting counter as imperial
2026-07-16T05:09:16 - INFO: Preparing size track from assets JSON...
2026-07-16T05:09:16 - INFO: Preparing shape track from assets JSON...
2026-07-16T05:09:16 - INFO: Preparing material track from assets JSON...
2026-07-16T05:09:16 - INFO: Prepared counter data in 0.2149 s
2026-07-16T05:09:16 - INFO: Extracting sonar data...
TFD path: /working/54ed0cc0-4a0a-2802-9721-ceacbcf85df9/tfd/2376SS.tfd
TFD path: /working/54ed0cc0-4a0a-2802-9721-ceacbcf85df9/tfd/output
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855215978501720643
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720644
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 4816
19 / 4816 [>___________________________________________________________________________] 0.39% ? p/s37 / 4816 [>___________________________________________________________________________] 0.77% ? p/s56 / 4816 [>___________________________________________________________________________] 1.16% ? p/s73 / 4816 [->_________________________________________________________________________] 1.52% 90 p/s94 / 4816 [->_________________________________________________________________________] 1.95% 90 p/s111 / 4816 [->________________________________________________________________________] 2.30% 90 p/s131 / 4816 [-->_______________________________________________________________________] 2.72% 90 p/s149 / 4816 [-->_______________________________________________________________________] 3.09% 90 p/s169 / 4816 [-->_______________________________________________________________________] 3.51% 90 p/s190 / 4816 [-->_______________________________________________________________________] 3.95% 91 p/s210 / 4816 [--->______________________________________________________________________] 4.36% 91 p/s230 / 4816 [--->______________________________________________________________________] 4.78% 91 p/s250 / 4816 [--->______________________________________________________________________] 5.19% 92 p/s270 / 4816 [---->_____________________________________________________________________] 5.61% 92 p/s290 / 4816 [---->_____________________________________________________________________] 6.02% 92 p/s311 / 4816 [---->_____________________________________________________________________] 6.46% 92 p/s331 / 4816 [----->____________________________________________________________________] 6.87% 92 p/s351 / 4816 [----->____________________________________________________________________] 7.29% 92 p/s371 / 4816 [----->____________________________________________________________________] 7.70% 93 p/s391 / 4816 [------>___________________________________________________________________] 8.12% 93 p/s412 / 4816 [------>___________________________________________________________________] 8.55% 93 p/s432 / 4816 [------>___________________________________________________________________] 8.97% 93 p/s452 / 4816 [------>___________________________________________________________________] 9.39% 93 p/s472 / 4816 [------->__________________________________________________________________] 9.80% 93 p/s493 / 4816 [------->_________________________________________________________________] 10.24% 94 p/s512 / 4816 [------->_________________________________________________________________] 10.63% 94 p/s532 / 4816 [-------->________________________________________________________________] 11.05% 94 p/s552 / 4816 [-------->________________________________________________________________] 11.46% 94 p/s573 / 4816 [-------->________________________________________________________________] 11.90% 94 p/s593 / 4816 [-------->________________________________________________________________] 12.31% 94 p/s613 / 4816 [--------->_______________________________________________________________] 12.73% 95 p/s634 / 4816 [--------->_______________________________________________________________] 13.16% 95 p/s654 / 4816 [--------->_______________________________________________________________] 13.58% 95 p/s674 / 4816 [---------->______________________________________________________________] 14.00% 95 p/s695 / 4816 [---------->______________________________________________________________] 14.43% 95 p/s715 / 4816 [---------->______________________________________________________________] 14.85% 95 p/s735 / 4816 [----------->_____________________________________________________________] 15.26% 95 p/s756 / 4816 [----------->_____________________________________________________________] 15.70% 95 p/s776 / 4816 [----------->_____________________________________________________________] 16.11% 95 p/s796 / 4816 [------------>____________________________________________________________] 16.53% 96 p/s816 / 4816 [------------>____________________________________________________________] 16.94% 96 p/s836 / 4816 [------------>____________________________________________________________] 17.36% 96 p/s856 / 4816 [------------>____________________________________________________________] 17.77% 96 p/s876 / 4816 [------------->___________________________________________________________] 18.19% 96 p/s897 / 4816 [------------->___________________________________________________________] 18.63% 96 p/s917 / 4816 [------------->___________________________________________________________] 19.04% 97 p/s937 / 4816 [-------------->__________________________________________________________] 19.46% 97 p/s957 / 4816 [-------------->__________________________________________________________] 19.87% 97 p/s977 / 4816 [-------------->__________________________________________________________] 20.29% 97 p/s997 / 4816 [--------------->_________________________________________________________] 20.70% 97 p/s1017 / 4816 [--------------->________________________________________________________] 21.12% 97 p/s1038 / 4816 [--------------->________________________________________________________] 21.55% 97 p/s1058 / 4816 [--------------->________________________________________________________] 21.97% 97 p/s1078 / 4816 [---------------->_______________________________________________________] 22.38% 97 p/s1098 / 4816 [---------------->_______________________________________________________] 22.80% 97 p/s1119 / 4816 [---------------->_______________________________________________________] 23.24% 97 p/s1139 / 4816 [----------------->______________________________________________________] 23.65% 97 p/s1159 / 4816 [----------------->______________________________________________________] 24.07% 98 p/s1180 / 4816 [----------------->______________________________________________________] 24.50% 98 p/s1200 / 4816 [----------------->______________________________________________________] 24.92% 98 p/s1220 / 4816 [------------------>_____________________________________________________] 25.33% 98 p/s1241 / 4816 [------------------>_____________________________________________________] 25.77% 98 p/s1261 / 4816 [------------------>_____________________________________________________] 26.18% 98 p/s1281 / 4816 [------------------->____________________________________________________] 26.60% 98 p/s1302 / 4816 [------------------->____________________________________________________] 27.03% 98 p/s1322 / 4816 [------------------->____________________________________________________] 27.45% 98 p/s1342 / 4816 [-------------------->___________________________________________________] 27.87% 98 p/s1362 / 4816 [-------------------->___________________________________________________] 28.28% 98 p/s1383 / 4816 [-------------------->___________________________________________________] 28.72% 98 p/s1403 / 4816 [-------------------->___________________________________________________] 29.13% 98 p/s1420 / 4816 [--------------------->__________________________________________________] 29.49% 98 p/s1431 / 4816 [--------------------->__________________________________________________] 29.71% 98 p/s1452 / 4816 [--------------------->__________________________________________________] 30.15% 97 p/s1472 / 4816 [---------------------->_________________________________________________] 30.56% 97 p/s1492 / 4816 [---------------------->_________________________________________________] 30.98% 97 p/s1513 / 4816 [---------------------->_________________________________________________] 31.42% 98 p/s1533 / 4816 [---------------------->_________________________________________________] 31.83% 98 p/s1553 / 4816 [----------------------->________________________________________________] 32.25% 98 p/s1574 / 4816 [----------------------->________________________________________________] 32.68% 98 p/s1594 / 4816 [----------------------->________________________________________________] 33.10% 98 p/s1614 / 4816 [------------------------>_______________________________________________] 33.51% 98 p/s1634 / 4816 [------------------------>_______________________________________________] 33.93% 98 p/s1655 / 4816 [------------------------>_______________________________________________] 34.36% 98 p/s1675 / 4816 [------------------------->______________________________________________] 34.78% 98 p/s1695 / 4816 [------------------------->______________________________________________] 35.20% 98 p/s1716 / 4816 [------------------------->______________________________________________] 35.63% 98 p/s1736 / 4816 [------------------------->______________________________________________] 36.05% 98 p/s1756 / 4816 [-------------------------->_____________________________________________] 36.46% 99 p/s1776 / 4816 [-------------------------->_____________________________________________] 36.88% 99 p/s1796 / 4816 [-------------------------->_____________________________________________] 37.29% 99 p/s1816 / 4816 [--------------------------->____________________________________________] 37.71% 99 p/s1837 / 4816 [--------------------------->____________________________________________] 38.14% 99 p/s1857 / 4816 [--------------------------->____________________________________________] 38.56% 99 p/s1877 / 4816 [---------------------------->___________________________________________] 38.97% 99 p/s1897 / 4816 [---------------------------->___________________________________________] 39.39% 99 p/s1918 / 4816 [---------------------------->___________________________________________] 39.83% 99 p/s1938 / 4816 [---------------------------->___________________________________________] 40.24% 99 p/s1958 / 4816 [----------------------------->__________________________________________] 40.66% 99 p/s1978 / 4816 [----------------------------->__________________________________________] 41.07% 99 p/s1999 / 4816 [----------------------------->__________________________________________] 41.51% 99 p/s2019 / 4816 [------------------------------>_________________________________________] 41.92% 99 p/s2039 / 4816 [------------------------------>_________________________________________] 42.34% 99 p/s2059 / 4816 [------------------------------>_________________________________________] 42.75% 99 p/s2079 / 4816 [------------------------------->________________________________________] 43.17% 99 p/s2100 / 4816 [------------------------------->________________________________________] 43.60% 99 p/s2120 / 4816 [------------------------------->________________________________________] 44.02% 99 p/s2140 / 4816 [------------------------------->________________________________________] 44.44% 99 p/s2160 / 4816 [-------------------------------->_______________________________________] 44.85% 99 p/s2181 / 4816 [-------------------------------->______________________________________] 45.29% 100 p/s2200 / 4816 [-------------------------------->______________________________________] 45.68% 100 p/s2220 / 4816 [-------------------------------->______________________________________] 46.10% 100 p/s2240 / 4816 [--------------------------------->______________________________________] 46.51% 99 p/s2260 / 4816 [--------------------------------->______________________________________] 46.93% 99 p/s2280 / 4816 [---------------------------------->_____________________________________] 47.34% 99 p/s2301 / 4816 [--------------------------------->_____________________________________] 47.78% 100 p/s2321 / 4816 [---------------------------------->____________________________________] 48.19% 100 p/s2341 / 4816 [---------------------------------->____________________________________] 48.61% 100 p/s2361 / 4816 [---------------------------------->____________________________________] 49.02% 100 p/s2381 / 4816 [----------------------------------->___________________________________] 49.44% 100 p/s2402 / 4816 [----------------------------------->___________________________________] 49.88% 100 p/s2422 / 4816 [----------------------------------->___________________________________] 50.29% 100 p/s2442 / 4816 [------------------------------------>__________________________________] 50.71% 100 p/s2463 / 4816 [------------------------------------>__________________________________] 51.14% 100 p/s2483 / 4816 [------------------------------------>__________________________________] 51.56% 100 p/s2503 / 4816 [------------------------------------>__________________________________] 51.97% 100 p/s2523 / 4816 [------------------------------------->_________________________________] 52.39% 100 p/s2540 / 4816 [------------------------------------->_________________________________] 52.74% 100 p/s2560 / 4816 [------------------------------------->_________________________________] 53.16% 100 p/s2580 / 4816 [-------------------------------------->________________________________] 53.57% 100 p/s2600 / 4816 [-------------------------------------->________________________________] 53.99% 100 p/s2620 / 4816 [-------------------------------------->________________________________] 54.40% 100 p/s2640 / 4816 [-------------------------------------->________________________________] 54.82% 100 p/s2660 / 4816 [--------------------------------------->_______________________________] 55.23% 100 p/s2681 / 4816 [--------------------------------------->_______________________________] 55.67% 100 p/s2701 / 4816 [--------------------------------------->_______________________________] 56.08% 100 p/s2721 / 4816 [---------------------------------------->______________________________] 56.50% 100 p/s2741 / 4816 [---------------------------------------->______________________________] 56.91% 100 p/s2761 / 4816 [---------------------------------------->______________________________] 57.33% 100 p/s2781 / 4816 [---------------------------------------->______________________________] 57.75% 100 p/s2801 / 4816 [----------------------------------------->_____________________________] 58.16% 100 p/s2822 / 4816 [----------------------------------------->_____________________________] 58.60% 100 p/s2841 / 4816 [----------------------------------------->_____________________________] 58.99% 100 p/s2862 / 4816 [------------------------------------------>____________________________] 59.43% 100 p/s2882 / 4816 [------------------------------------------>____________________________] 59.84% 100 p/s2902 / 4816 [------------------------------------------>____________________________] 60.26% 100 p/s2922 / 4816 [------------------------------------------->___________________________] 60.67% 100 p/s2943 / 4816 [------------------------------------------->___________________________] 61.11% 100 p/s2963 / 4816 [------------------------------------------->___________________________] 61.52% 100 p/s2983 / 4816 [------------------------------------------->___________________________] 61.94% 100 p/s3003 / 4816 [-------------------------------------------->__________________________] 62.35% 100 p/s3023 / 4816 [-------------------------------------------->__________________________] 62.77% 100 p/s3043 / 4816 [-------------------------------------------->__________________________] 63.19% 100 p/s3063 / 4816 [--------------------------------------------->_________________________] 63.60% 100 p/s3083 / 4816 [--------------------------------------------->_________________________] 64.02% 100 p/s3103 / 4816 [--------------------------------------------->_________________________] 64.43% 100 p/s3123 / 4816 [---------------------------------------------->________________________] 64.85% 100 p/s3144 / 4816 [---------------------------------------------->________________________] 65.28% 100 p/s3164 / 4816 [---------------------------------------------->________________________] 65.70% 100 p/s3184 / 4816 [---------------------------------------------->________________________] 66.11% 100 p/s3204 / 4816 [----------------------------------------------->_______________________] 66.53% 100 p/s3224 / 4816 [----------------------------------------------->_______________________] 66.94% 100 p/s3244 / 4816 [----------------------------------------------->_______________________] 67.36% 100 p/s3264 / 4816 [------------------------------------------------>______________________] 67.77% 100 p/s3285 / 4816 [------------------------------------------------>______________________] 68.21% 100 p/s3305 / 4816 [------------------------------------------------>______________________] 68.63% 100 p/s3325 / 4816 [------------------------------------------------->_____________________] 69.04% 100 p/s3345 / 4816 [------------------------------------------------->_____________________] 69.46% 100 p/s3365 / 4816 [------------------------------------------------->_____________________] 69.87% 100 p/s3385 / 4816 [------------------------------------------------->_____________________] 70.29% 100 p/s3405 / 4816 [-------------------------------------------------->____________________] 70.70% 100 p/s3425 / 4816 [-------------------------------------------------->____________________] 71.12% 100 p/s3445 / 4816 [-------------------------------------------------->____________________] 71.53% 100 p/s3466 / 4816 [--------------------------------------------------->___________________] 71.97% 100 p/s3486 / 4816 [--------------------------------------------------->___________________] 72.38% 100 p/s3506 / 4816 [--------------------------------------------------->___________________] 72.80% 100 p/s3526 / 4816 [--------------------------------------------------->___________________] 73.21% 100 p/s3546 / 4816 [---------------------------------------------------->__________________] 73.63% 100 p/s3566 / 4816 [---------------------------------------------------->__________________] 74.04% 100 p/s3586 / 4816 [---------------------------------------------------->__________________] 74.46% 100 p/s3606 / 4816 [----------------------------------------------------->_________________] 74.88% 100 p/s3626 / 4816 [----------------------------------------------------->_________________] 75.29% 100 p/s3646 / 4816 [----------------------------------------------------->_________________] 75.71% 100 p/s3666 / 4816 [------------------------------------------------------>________________] 76.12% 100 p/s3686 / 4816 [------------------------------------------------------>________________] 76.54% 100 p/s3706 / 4816 [------------------------------------------------------>________________] 76.95% 100 p/s3727 / 4816 [------------------------------------------------------>________________] 77.39% 100 p/s3747 / 4816 [------------------------------------------------------->_______________] 77.80% 100 p/s3767 / 4816 [------------------------------------------------------->_______________] 78.22% 100 p/s3787 / 4816 [------------------------------------------------------->_______________] 78.63% 100 p/s3807 / 4816 [-------------------------------------------------------->______________] 79.05% 100 p/s3827 / 4816 [-------------------------------------------------------->______________] 79.46% 100 p/s3847 / 4816 [-------------------------------------------------------->______________] 79.88% 100 p/s3867 / 4816 [--------------------------------------------------------->_____________] 80.29% 100 p/s3887 / 4816 [--------------------------------------------------------->_____________] 80.71% 100 p/s3907 / 4816 [--------------------------------------------------------->_____________] 81.13% 100 p/s3928 / 4816 [--------------------------------------------------------->_____________] 81.56% 100 p/s3948 / 4816 [---------------------------------------------------------->____________] 81.98% 100 p/s3967 / 4816 [---------------------------------------------------------->____________] 82.37% 100 p/s3988 / 4816 [---------------------------------------------------------->____________] 82.81% 100 p/s4008 / 4816 [----------------------------------------------------------->___________] 83.22% 100 p/s4028 / 4816 [----------------------------------------------------------->___________] 83.64% 100 p/s4049 / 4816 [----------------------------------------------------------->___________] 84.07% 100 p/s4069 / 4816 [----------------------------------------------------------->___________] 84.49% 100 p/s4088 / 4816 [------------------------------------------------------------>__________] 84.88% 100 p/s4108 / 4816 [------------------------------------------------------------>__________] 85.30% 100 p/s4129 / 4816 [------------------------------------------------------------>__________] 85.74% 100 p/s4148 / 4816 [------------------------------------------------------------->_________] 86.13% 100 p/s4169 / 4816 [------------------------------------------------------------->_________] 86.57% 100 p/s4189 / 4816 [------------------------------------------------------------->_________] 86.98% 100 p/s4209 / 4816 [-------------------------------------------------------------->________] 87.40% 100 p/s4229 / 4816 [-------------------------------------------------------------->________] 87.81% 100 p/s4249 / 4816 [-------------------------------------------------------------->________] 88.23% 100 p/s4269 / 4816 [-------------------------------------------------------------->________] 88.64% 100 p/s4289 / 4816 [--------------------------------------------------------------->_______] 89.06% 100 p/s4309 / 4816 [--------------------------------------------------------------->_______] 89.47% 100 p/s4329 / 4816 [--------------------------------------------------------------->_______] 89.89% 100 p/s4349 / 4816 [---------------------------------------------------------------->______] 90.30% 100 p/s4369 / 4816 [---------------------------------------------------------------->______] 90.72% 100 p/s4389 / 4816 [---------------------------------------------------------------->______] 91.13% 100 p/s4410 / 4816 [----------------------------------------------------------------->_____] 91.57% 100 p/s4430 / 4816 [----------------------------------------------------------------->_____] 91.99% 100 p/s4450 / 4816 [----------------------------------------------------------------->_____] 92.40% 100 p/s4470 / 4816 [----------------------------------------------------------------->_____] 92.82% 100 p/s4489 / 4816 [------------------------------------------------------------------>____] 93.21% 100 p/s4509 / 4816 [------------------------------------------------------------------>____] 93.63% 100 p/s4529 / 4816 [------------------------------------------------------------------>____] 94.04% 100 p/s4549 / 4816 [------------------------------------------------------------------->___] 94.46% 100 p/s4569 / 4816 [------------------------------------------------------------------->___] 94.87% 100 p/s4589 / 4816 [------------------------------------------------------------------->___] 95.29% 100 p/s4609 / 4816 [------------------------------------------------------------------->___] 95.70% 100 p/s4630 / 4816 [-------------------------------------------------------------------->__] 96.14% 100 p/s4650 / 4816 [-------------------------------------------------------------------->__] 96.55% 100 p/s4670 / 4816 [-------------------------------------------------------------------->__] 96.97% 100 p/s4690 / 4816 [--------------------------------------------------------------------->_] 97.38% 100 p/s4710 / 4816 [--------------------------------------------------------------------->_] 97.80% 100 p/s4730 / 4816 [--------------------------------------------------------------------->_] 98.21% 100 p/s4750 / 4816 [---------------------------------------------------------------------->] 98.63% 100 p/s4770 / 4816 [---------------------------------------------------------------------->] 99.04% 100 p/s4790 / 4816 [---------------------------------------------------------------------->] 99.46% 100 p/s4810 / 4816 [---------------------------------------------------------------------->] 99.88% 100 p/s4816 / 4816 [----------------------------------------------------------------------] 100.00% 101 p/s2026-07-16T05:10:04 - INFO: Parsing 4816 sonar sweeps from /working/54ed0cc0-4a0a-2802-9721-ceacbcf85df9/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/4816 [00:00<?, ?it/s]
  0%|          | 3/4816 [00:00<03:19, 24.17it/s]
  0%|          | 6/4816 [00:00<03:11, 25.12it/s]
  0%|          | 9/4816 [00:00<03:07, 25.68it/s]
  0%|          | 12/4816 [00:00<03:03, 26.12it/s]
  0%|          | 15/4816 [00:00<03:01, 26.41it/s]
  0%|          | 18/4816 [00:00<03:00, 26.64it/s]
  0%|          | 21/4816 [00:00<02:59, 26.73it/s]
  0%|          | 24/4816 [00:00<02:58, 26.81it/s]
  1%|          | 27/4816 [00:01<02:57, 26.91it/s]
  1%|          | 30/4816 [00:01<02:57, 26.90it/s]
  1%|          | 33/4816 [00:01<02:57, 26.97it/s]
  1%|          | 36/4816 [00:01<02:56, 27.04it/s]
  1%|          | 39/4816 [00:01<02:56, 27.05it/s]
  1%|          | 42/4816 [00:01<02:56, 27.06it/s]
  1%|          | 45/4816 [00:01<02:56, 27.06it/s]
  1%|          | 48/4816 [00:01<02:56, 27.08it/s]
  1%|          | 51/4816 [00:01<02:56, 27.05it/s]
  1%|          | 54/4816 [00:02<02:56, 27.05it/s]
  1%|          | 57/4816 [00:02<02:56, 27.03it/s]
  1%|          | 60/4816 [00:02<02:55, 27.07it/s]
  1%|▏         | 63/4816 [00:02<02:55, 27.09it/s]
  1%|▏         | 66/4816 [00:02<02:55, 27.08it/s]
  1%|▏         | 69/4816 [00:02<02:55, 27.05it/s]
  1%|▏         | 72/4816 [00:02<03:00, 26.24it/s]
  2%|▏         | 75/4816 [00:02<02:59, 26.46it/s]
  2%|▏         | 78/4816 [00:02<02:57, 26.65it/s]
  2%|▏         | 81/4816 [00:03<02:57, 26.72it/s]
  2%|▏         | 84/4816 [00:03<02:57, 26.70it/s]
  2%|▏         | 87/4816 [00:03<02:56, 26.78it/s]
  2%|▏         | 90/4816 [00:03<02:55, 26.88it/s]
  2%|▏         | 93/4816 [00:03<02:55, 26.94it/s]
  2%|▏         | 96/4816 [00:03<02:55, 26.97it/s]
  2%|▏         | 99/4816 [00:03<02:55, 26.94it/s]
  2%|▏         | 102/4816 [00:03<02:54, 26.94it/s]
  2%|▏         | 105/4816 [00:03<02:54, 26.92it/s]
  2%|▏         | 108/4816 [00:04<02:54, 26.92it/s]
  2%|▏         | 111/4816 [00:04<02:54, 26.92it/s]
  2%|▏         | 114/4816 [00:04<02:54, 26.96it/s]
  2%|▏         | 117/4816 [00:04<02:54, 27.00it/s]
  2%|▏         | 120/4816 [00:04<02:53, 27.01it/s]
  3%|▎         | 123/4816 [00:04<02:53, 27.02it/s]
  3%|▎         | 126/4816 [00:04<02:53, 27.05it/s]
  3%|▎         | 129/4816 [00:04<02:53, 27.01it/s]
  3%|▎         | 132/4816 [00:04<02:53, 27.01it/s]
  3%|▎         | 135/4816 [00:05<02:53, 27.05it/s]
  3%|▎         | 138/4816 [00:05<02:53, 27.01it/s]
  3%|▎         | 141/4816 [00:05<02:52, 27.04it/s]
  3%|▎         | 144/4816 [00:05<02:52, 27.02it/s]
  3%|▎         | 147/4816 [00:05<02:53, 26.95it/s]
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  3%|▎         | 168/4816 [00:06<02:52, 27.00it/s]
  4%|▎         | 171/4816 [00:06<02:52, 26.95it/s]
  4%|▎         | 174/4816 [00:06<02:52, 26.89it/s]
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  4%|▎         | 180/4816 [00:06<02:52, 26.86it/s]
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  4%|▍         | 186/4816 [00:06<02:52, 26.90it/s]
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  5%|▌         | 252/4816 [00:09<02:53, 26.35it/s]
  5%|▌         | 255/4816 [00:09<02:53, 26.22it/s]
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2026-07-16T05:13:10 - WARNING: Expected 400 beams, got 180, dropping sweep 4815
2026-07-16T05:13:10 - 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/54ed0cc0-4a0a-2802-9721-ceacbcf85df9/54ed0cc0-4a0a-2802-9721-ceacbcf85df9"
2026-07-16T05:13:11 - INFO: DataPrep 0.14.7
2026-07-16T05:13:11 - INFO: Prepared data will be output to /working/54ed0cc0-4a0a-2802-9721-ceacbcf85df9/54ed0cc0-4a0a-2802-9721-ceacbcf85df9/processing/data
2026-07-16T05:13:11 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-16T05:13:11 - deployment - INFO: Detected P3D version: P3D_1
2026-07-16T05:13:11 - INFO: Recording GUID: 54ed0cc0-4a0a-2802-9721-ceacbcf85df9
2026-07-16T05:13:11 - INFO: Preparing sonar data...
2026-07-16T05:13:11 - INFO: /working/54ed0cc0-4a0a-2802-9721-ceacbcf85df9/54ed0cc0-4a0a-2802-9721-ceacbcf85df9/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-16T05:13:16 - INFO: Sonar epoch is 2026-03-11 18:03:57.313438+00:00 (1773252237313438363)
2026-07-16T05:13:16 - INFO: Creating sonar sensor alignment track...
2026-07-16T05:13:16 - INFO: Using sonar rotation of -0.034907 radians for wedge mask
2026-07-16T05:13:16 - INFO: Sensor speed of sound is 1500 m/s
2026-07-16T05:13:16 - INFO: Sensor range is 1.589280 m
2026-07-16T05:13:16 - INFO: Sensor micrometres per sample is 5280.000031
2026-07-16T05:13:16 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-16T05:13:16 - INFO: Scaled range is 1.583441 m
2026-07-16T05:13:16 - INFO: Scaled micrometres per sample is 5260.599863
2026-07-16T05:13:16 - INFO: Processing 4815 sweeps...

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2026-07-16T05:13:27 - INFO: Prepared sonar data in 15.8429 s
2026-07-16T05:13:27 - INFO: No IMU data found
2026-07-16T05:13:28 - INFO: DataPrep took 0:00:16.397668
2026-07-16T05:13:28 - INFO: Extracted sonar data in 0:04:11.856998
2026-07-16T05:13:28 - INFO: MSIP3D took 0:04:12.502633