+ [ 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/a11084ce-ee89-89e6-e978-c9e483327272
2026-07-16T23:10:50 - INFO: MSIP3D 0.2.8
2026-07-16T23:10:50 - INFO: P3D files will be output to /working/a11084ce-ee89-89e6-e978-c9e483327272/a11084ce-ee89-89e6-e978-c9e483327272
2026-07-16T23:10:50 - INFO: Found 11 TFD dictionary entries
2026-07-16T23:10:50 - INFO: Found TFD mission for 2094SS
2026-07-16T23:10:50 - INFO: Recording will be processed as SMD
2026-07-16T23:10:50 - INFO: Copying assets JSON to output directory...
2026-07-16T23:10:50 - INFO: Preparing counter data...
2026-07-16T23:10:50 - INFO: Interpreting counter as imperial
2026-07-16T23:10:51 - INFO: Preparing size track from assets JSON...
2026-07-16T23:10:51 - INFO: Preparing shape track from assets JSON...
2026-07-16T23:10:51 - INFO: Preparing material track from assets JSON...
2026-07-16T23:10:51 - INFO: Prepared counter data in 0.1493 s
2026-07-16T23:10:51 - INFO: Extracting sonar data...
TFD path: /working/a11084ce-ee89-89e6-e978-c9e483327272/tfd/2094SS.tfd
TFD path: /working/a11084ce-ee89-89e6-e978-c9e483327272/tfd/output
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855215978501720643
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720644
Getting track SONAR
Number of frames: 3237
18 / 3237 [>___________________________________________________________________________] 0.56% ? p/s38 / 3237 [>___________________________________________________________________________] 1.17% ? p/s57 / 3237 [->__________________________________________________________________________] 1.76% ? p/s77 / 3237 [->_________________________________________________________________________] 2.38% 98 p/s97 / 3237 [-->________________________________________________________________________] 3.00% 98 p/s117 / 3237 [-->_______________________________________________________________________] 3.61% 98 p/s134 / 3237 [--->______________________________________________________________________] 4.14% 98 p/s153 / 3237 [--->______________________________________________________________________] 4.73% 98 p/s173 / 3237 [--->______________________________________________________________________] 5.34% 98 p/s193 / 3237 [---->_____________________________________________________________________] 5.96% 98 p/s213 / 3237 [---->_____________________________________________________________________] 6.58% 98 p/s233 / 3237 [----->____________________________________________________________________] 7.20% 98 p/s250 / 3237 [----->____________________________________________________________________] 7.72% 98 p/s270 / 3237 [------>___________________________________________________________________] 8.34% 98 p/s290 / 3237 [------>___________________________________________________________________] 8.96% 98 p/s309 / 3237 [------->__________________________________________________________________] 9.55% 98 p/s329 / 3237 [------->_________________________________________________________________] 10.16% 98 p/s349 / 3237 [------->_________________________________________________________________] 10.78% 98 p/s368 / 3237 [-------->________________________________________________________________] 11.37% 98 p/s388 / 3237 [-------->________________________________________________________________] 11.99% 98 p/s408 / 3237 [--------->_______________________________________________________________] 12.60% 98 p/s427 / 3237 [--------->_______________________________________________________________] 13.19% 98 p/s446 / 3237 [---------->______________________________________________________________] 13.78% 98 p/s467 / 3237 [---------->______________________________________________________________] 14.43% 98 p/s486 / 3237 [---------->______________________________________________________________] 15.01% 98 p/s505 / 3237 [----------->_____________________________________________________________] 15.60% 98 p/s525 / 3237 [----------->_____________________________________________________________] 16.22% 98 p/s544 / 3237 [------------>____________________________________________________________] 16.81% 98 p/s564 / 3237 [------------>____________________________________________________________] 17.42% 98 p/s583 / 3237 [------------->___________________________________________________________] 18.01% 98 p/s603 / 3237 [------------->___________________________________________________________] 18.63% 98 p/s622 / 3237 [-------------->__________________________________________________________] 19.22% 98 p/s642 / 3237 [-------------->__________________________________________________________] 19.83% 98 p/s662 / 3237 [-------------->__________________________________________________________] 20.45% 98 p/s682 / 3237 [--------------->_________________________________________________________] 21.07% 98 p/s702 / 3237 [--------------->_________________________________________________________] 21.69% 98 p/s722 / 3237 [---------------->________________________________________________________] 22.30% 98 p/s740 / 3237 [---------------->________________________________________________________] 22.86% 98 p/s760 / 3237 [----------------->_______________________________________________________] 23.48% 98 p/s780 / 3237 [----------------->_______________________________________________________] 24.10% 98 p/s800 / 3237 [------------------>______________________________________________________] 24.71% 98 p/s820 / 3237 [------------------>______________________________________________________] 25.33% 98 p/s838 / 3237 [------------------>______________________________________________________] 25.89% 98 p/s858 / 3237 [------------------->_____________________________________________________] 26.51% 98 p/s878 / 3237 [------------------->_____________________________________________________] 27.12% 98 p/s898 / 3237 [-------------------->____________________________________________________] 27.74% 98 p/s918 / 3237 [-------------------->____________________________________________________] 28.36% 98 p/s927 / 3237 [-------------------->____________________________________________________] 28.64% 98 p/s944 / 3237 [--------------------->___________________________________________________] 29.16% 97 p/s964 / 3237 [--------------------->___________________________________________________] 29.78% 97 p/s984 / 3237 [---------------------->__________________________________________________] 30.40% 97 p/s1003 / 3237 [---------------------->_________________________________________________] 30.99% 97 p/s1021 / 3237 [---------------------->_________________________________________________] 31.54% 97 p/s1040 / 3237 [----------------------->________________________________________________] 32.13% 97 p/s1060 / 3237 [----------------------->________________________________________________] 32.75% 97 p/s1080 / 3237 [------------------------>_______________________________________________] 33.36% 97 p/s1099 / 3237 [------------------------>_______________________________________________] 33.95% 97 p/s1119 / 3237 [------------------------>_______________________________________________] 34.57% 97 p/s1139 / 3237 [------------------------->______________________________________________] 35.19% 97 p/s1158 / 3237 [------------------------->______________________________________________] 35.77% 97 p/s1178 / 3237 [-------------------------->_____________________________________________] 36.39% 97 p/s1198 / 3237 [-------------------------->_____________________________________________] 37.01% 97 p/s1217 / 3237 [--------------------------->____________________________________________] 37.60% 97 p/s1236 / 3237 [--------------------------->____________________________________________] 38.18% 97 p/s1256 / 3237 [--------------------------->____________________________________________] 38.80% 97 p/s1276 / 3237 [---------------------------->___________________________________________] 39.42% 97 p/s1295 / 3237 [---------------------------->___________________________________________] 40.01% 97 p/s1315 / 3237 [----------------------------->__________________________________________] 40.62% 97 p/s1335 / 3237 [----------------------------->__________________________________________] 41.24% 97 p/s1355 / 3237 [------------------------------>_________________________________________] 41.86% 97 p/s1375 / 3237 [------------------------------>_________________________________________] 42.48% 97 p/s1395 / 3237 [------------------------------->________________________________________] 43.10% 97 p/s1404 / 3237 [------------------------------->________________________________________] 43.37% 96 p/s1419 / 3237 [------------------------------->________________________________________] 43.84% 96 p/s1433 / 3237 [------------------------------->________________________________________] 44.27% 96 p/s1453 / 3237 [-------------------------------->_______________________________________] 44.89% 95 p/s1473 / 3237 [-------------------------------->_______________________________________] 45.51% 95 p/s1493 / 3237 [--------------------------------->______________________________________] 46.12% 95 p/s1513 / 3237 [--------------------------------->______________________________________] 46.74% 96 p/s1532 / 3237 [---------------------------------->_____________________________________] 47.33% 96 p/s1552 / 3237 [---------------------------------->_____________________________________] 47.95% 96 p/s1572 / 3237 [---------------------------------->_____________________________________] 48.56% 96 p/s1592 / 3237 [----------------------------------->____________________________________] 49.18% 96 p/s1612 / 3237 [----------------------------------->____________________________________] 49.80% 96 p/s1631 / 3237 [------------------------------------>___________________________________] 50.39% 96 p/s1651 / 3237 [------------------------------------>___________________________________] 51.00% 96 p/s1671 / 3237 [------------------------------------->__________________________________] 51.62% 96 p/s1691 / 3237 [------------------------------------->__________________________________] 52.24% 96 p/s1711 / 3237 [-------------------------------------->_________________________________] 52.86% 96 p/s1730 / 3237 [-------------------------------------->_________________________________] 53.44% 96 p/s1750 / 3237 [-------------------------------------->_________________________________] 54.06% 96 p/s1770 / 3237 [--------------------------------------->________________________________] 54.68% 96 p/s1790 / 3237 [--------------------------------------->________________________________] 55.30% 96 p/s1809 / 3237 [---------------------------------------->_______________________________] 55.89% 96 p/s1829 / 3237 [---------------------------------------->_______________________________] 56.50% 96 p/s1849 / 3237 [----------------------------------------->______________________________] 57.12% 96 p/s1869 / 3237 [----------------------------------------->______________________________] 57.74% 97 p/s1878 / 3237 [----------------------------------------->______________________________] 58.02% 97 p/s1898 / 3237 [------------------------------------------>_____________________________] 58.63% 97 p/s1918 / 3237 [------------------------------------------>_____________________________] 59.25% 96 p/s1938 / 3237 [------------------------------------------->____________________________] 59.87% 96 p/s1957 / 3237 [------------------------------------------->____________________________] 60.46% 96 p/s1977 / 3237 [------------------------------------------->____________________________] 61.08% 96 p/s1997 / 3237 [-------------------------------------------->___________________________] 61.69% 96 p/s2017 / 3237 [-------------------------------------------->___________________________] 62.31% 96 p/s2037 / 3237 [--------------------------------------------->__________________________] 62.93% 96 p/s2056 / 3237 [--------------------------------------------->__________________________] 63.52% 96 p/s2076 / 3237 [---------------------------------------------->_________________________] 64.13% 96 p/s2096 / 3237 [---------------------------------------------->_________________________] 64.75% 96 p/s2115 / 3237 [----------------------------------------------->________________________] 65.34% 96 p/s2135 / 3237 [----------------------------------------------->________________________] 65.96% 96 p/s2155 / 3237 [----------------------------------------------->________________________] 66.57% 96 p/s2174 / 3237 [------------------------------------------------>_______________________] 67.16% 96 p/s2194 / 3237 [------------------------------------------------>_______________________] 67.78% 96 p/s2214 / 3237 [------------------------------------------------->______________________] 68.40% 97 p/s2234 / 3237 [------------------------------------------------->______________________] 69.01% 97 p/s2254 / 3237 [-------------------------------------------------->_____________________] 69.63% 97 p/s2273 / 3237 [-------------------------------------------------->_____________________] 70.22% 97 p/s2293 / 3237 [--------------------------------------------------->____________________] 70.84% 97 p/s2313 / 3237 [--------------------------------------------------->____________________] 71.46% 97 p/s2332 / 3237 [--------------------------------------------------->____________________] 72.04% 97 p/s2352 / 3237 [---------------------------------------------------->___________________] 72.66% 97 p/s2362 / 3237 [---------------------------------------------------->___________________] 72.97% 97 p/s2375 / 3237 [---------------------------------------------------->___________________] 73.37% 95 p/s2393 / 3237 [----------------------------------------------------->__________________] 73.93% 95 p/s2400 / 3237 [----------------------------------------------------->__________________] 74.14% 95 p/s2419 / 3237 [----------------------------------------------------->__________________] 74.73% 94 p/s2439 / 3237 [------------------------------------------------------>_________________] 75.35% 94 p/s2459 / 3237 [------------------------------------------------------>_________________] 75.97% 94 p/s2479 / 3237 [------------------------------------------------------->________________] 76.58% 94 p/s2499 / 3237 [------------------------------------------------------->________________] 77.20% 94 p/s2519 / 3237 [-------------------------------------------------------->_______________] 77.82% 94 p/s2538 / 3237 [-------------------------------------------------------->_______________] 78.41% 94 p/s2558 / 3237 [-------------------------------------------------------->_______________] 79.02% 94 p/s2577 / 3237 [--------------------------------------------------------->______________] 79.61% 94 p/s2597 / 3237 [--------------------------------------------------------->______________] 80.23% 95 p/s2617 / 3237 [---------------------------------------------------------->_____________] 80.85% 95 p/s2637 / 3237 [---------------------------------------------------------->_____________] 81.46% 95 p/s2656 / 3237 [----------------------------------------------------------->____________] 82.05% 95 p/s2676 / 3237 [----------------------------------------------------------->____________] 82.67% 95 p/s2696 / 3237 [----------------------------------------------------------->____________] 83.29% 95 p/s2716 / 3237 [------------------------------------------------------------>___________] 83.90% 95 p/s2735 / 3237 [------------------------------------------------------------>___________] 84.49% 95 p/s2754 / 3237 [------------------------------------------------------------->__________] 85.08% 95 p/s2774 / 3237 [------------------------------------------------------------->__________] 85.70% 95 p/s2793 / 3237 [-------------------------------------------------------------->_________] 86.28% 95 p/s2813 / 3237 [-------------------------------------------------------------->_________] 86.90% 95 p/s2822 / 3237 [-------------------------------------------------------------->_________] 87.18% 94 p/s2841 / 3237 [--------------------------------------------------------------->________] 87.77% 94 p/s2860 / 3237 [--------------------------------------------------------------->________] 88.35% 94 p/s2880 / 3237 [---------------------------------------------------------------->_______] 88.97% 94 p/s2900 / 3237 [---------------------------------------------------------------->_______] 89.59% 94 p/s2920 / 3237 [---------------------------------------------------------------->_______] 90.21% 94 p/s2940 / 3237 [----------------------------------------------------------------->______] 90.82% 95 p/s2959 / 3237 [----------------------------------------------------------------->______] 91.41% 95 p/s2979 / 3237 [------------------------------------------------------------------>_____] 92.03% 95 p/s2998 / 3237 [------------------------------------------------------------------>_____] 92.62% 95 p/s3018 / 3237 [------------------------------------------------------------------->____] 93.23% 95 p/s3038 / 3237 [------------------------------------------------------------------->____] 93.85% 95 p/s3058 / 3237 [-------------------------------------------------------------------->___] 94.47% 95 p/s3078 / 3237 [-------------------------------------------------------------------->___] 95.09% 95 p/s3098 / 3237 [-------------------------------------------------------------------->___] 95.71% 95 p/s3118 / 3237 [--------------------------------------------------------------------->__] 96.32% 96 p/s3137 / 3237 [--------------------------------------------------------------------->__] 96.91% 96 p/s3157 / 3237 [---------------------------------------------------------------------->_] 97.53% 96 p/s3177 / 3237 [---------------------------------------------------------------------->_] 98.15% 96 p/s3197 / 3237 [----------------------------------------------------------------------->] 98.76% 96 p/s3217 / 3237 [----------------------------------------------------------------------->] 99.38% 96 p/s3237 / 3237 [-----------------------------------------------------------------------] 100.00% 96 p/s2026-07-16T23:11:24 - INFO: Parsing 3237 sonar sweeps from /working/a11084ce-ee89-89e6-e978-c9e483327272/tfd/output/SONAR/all-sweeps-info.csv...

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2026-07-16T23:13:34 - WARNING: Expected 400 beams, got 159, dropping sweep 3236
2026-07-16T23:13:34 - 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/a11084ce-ee89-89e6-e978-c9e483327272/a11084ce-ee89-89e6-e978-c9e483327272"
2026-07-16T23:13:36 - INFO: DataPrep 0.14.7
2026-07-16T23:13:36 - INFO: Prepared data will be output to /working/a11084ce-ee89-89e6-e978-c9e483327272/a11084ce-ee89-89e6-e978-c9e483327272/processing/data
2026-07-16T23:13:36 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-16T23:13:36 - deployment - INFO: Detected P3D version: P3D_1
2026-07-16T23:13:36 - INFO: Recording GUID: a11084ce-ee89-89e6-e978-c9e483327272
2026-07-16T23:13:36 - INFO: Preparing sonar data...
2026-07-16T23:13:36 - INFO: /working/a11084ce-ee89-89e6-e978-c9e483327272/a11084ce-ee89-89e6-e978-c9e483327272/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-16T23:13:39 - INFO: Sonar epoch is 2026-03-25 17:48:22.041291+00:00 (1774460902041291034)
2026-07-16T23:13:39 - INFO: Creating sonar sensor alignment track...
2026-07-16T23:13:39 - INFO: Using sonar rotation of 0.000000 radians for wedge mask
2026-07-16T23:13:39 - INFO: Sensor speed of sound is 1500 m/s
2026-07-16T23:13:39 - INFO: Sensor range is 1.589280 m
2026-07-16T23:13:39 - INFO: Sensor micrometres per sample is 5280.000031
2026-07-16T23:13:39 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-16T23:13:39 - INFO: Scaled range is 1.583441 m
2026-07-16T23:13:39 - INFO: Scaled micrometres per sample is 5260.599863
2026-07-16T23:13:39 - INFO: Processing 3236 sweeps...

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2026-07-16T23:13:48 - INFO: Prepared sonar data in 12.7852 s
2026-07-16T23:13:48 - INFO: No IMU data found
2026-07-16T23:13:49 - INFO: DataPrep took 0:00:13.203580
2026-07-16T23:13:49 - INFO: Extracted sonar data in 0:02:58.408332
2026-07-16T23:13:49 - INFO: MSIP3D took 0:02:58.856775