+ [ true = true ]
+ echo --counter
+ [ false = true ]
+ echo --no-video
+ [ false = true ]
+ echo --no-laser
+ [ true = true ]
+ echo --sonar
+ [ smd = md ]
+ 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
2026-07-17T04:23:53 - INFO: MSIP3D 0.2.9
2026-07-17T04:23:53 - INFO: P3D files will be output to /working/2ec7c4cc-58ef-1243-c1eb-d532deadc16c/2ec7c4cc-58ef-1243-c1eb-d532deadc16c
2026-07-17T04:23:53 - INFO: Found 11 TFD dictionary entries
2026-07-17T04:23:53 - INFO: Found TFD mission for 2291SS
2026-07-17T04:23:53 - INFO: Recording will be processed as SMD
2026-07-17T04:23:53 - INFO: Copying assets JSON to output directory...
2026-07-17T04:23:53 - INFO: Preparing counter data...
2026-07-17T04:23:53 - INFO: Interpreting counter as imperial
2026-07-17T04:23:54 - INFO: Preparing size track from assets JSON...
2026-07-17T04:23:54 - INFO: Preparing shape track from assets JSON...
2026-07-17T04:23:54 - INFO: Preparing material track from assets JSON...
2026-07-17T04:23:54 - INFO: Prepared counter data in 0.0996 s
2026-07-17T04:23:54 - 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: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720644
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855215978501720643
Name: MISSION_FILE, Tag: 5073671569755687501
Getting track SONAR
Number of frames: 2170
18 / 2170 [>___________________________________________________________________________] 0.83% ? p/s38 / 2170 [->__________________________________________________________________________] 1.75% ? p/s58 / 2170 [-->_________________________________________________________________________] 2.67% ? p/s77 / 2170 [-->________________________________________________________________________] 3.55% 98 p/s95 / 2170 [--->_______________________________________________________________________] 4.38% 98 p/s114 / 2170 [--->______________________________________________________________________] 5.25% 98 p/s130 / 2170 [---->_____________________________________________________________________] 5.99% 98 p/s150 / 2170 [----->____________________________________________________________________] 6.91% 98 p/s167 / 2170 [----->____________________________________________________________________] 7.70% 98 p/s187 / 2170 [------>___________________________________________________________________] 8.62% 98 p/s203 / 2170 [------>___________________________________________________________________] 9.35% 98 p/s223 / 2170 [------->_________________________________________________________________] 10.28% 98 p/s242 / 2170 [-------->________________________________________________________________] 11.15% 97 p/s262 / 2170 [-------->________________________________________________________________] 12.07% 97 p/s281 / 2170 [--------->_______________________________________________________________] 12.95% 97 p/s301 / 2170 [---------->______________________________________________________________] 13.87% 97 p/s321 / 2170 [---------->______________________________________________________________] 14.79% 97 p/s341 / 2170 [----------->_____________________________________________________________] 15.71% 97 p/s361 / 2170 [------------>____________________________________________________________] 16.64% 97 p/s381 / 2170 [------------>____________________________________________________________] 17.56% 97 p/s400 / 2170 [------------->___________________________________________________________] 18.43% 97 p/s420 / 2170 [-------------->__________________________________________________________] 19.35% 97 p/s440 / 2170 [-------------->__________________________________________________________] 20.28% 97 p/s460 / 2170 [--------------->_________________________________________________________] 21.20% 97 p/s479 / 2170 [---------------->________________________________________________________] 22.07% 98 p/s499 / 2170 [---------------->________________________________________________________] 23.00% 98 p/s519 / 2170 [----------------->_______________________________________________________] 23.92% 98 p/s539 / 2170 [------------------>______________________________________________________] 24.84% 98 p/s558 / 2170 [------------------>______________________________________________________] 25.71% 98 p/s578 / 2170 [------------------->_____________________________________________________] 26.64% 98 p/s598 / 2170 [-------------------->____________________________________________________] 27.56% 98 p/s618 / 2170 [-------------------->____________________________________________________] 28.48% 98 p/s638 / 2170 [--------------------->___________________________________________________] 29.40% 98 p/s658 / 2170 [---------------------->__________________________________________________] 30.32% 98 p/s678 / 2170 [---------------------->__________________________________________________] 31.24% 98 p/s698 / 2170 [----------------------->_________________________________________________] 32.17% 98 p/s718 / 2170 [------------------------>________________________________________________] 33.09% 98 p/s738 / 2170 [------------------------>________________________________________________] 34.01% 98 p/s757 / 2170 [------------------------->_______________________________________________] 34.88% 98 p/s777 / 2170 [-------------------------->______________________________________________] 35.81% 98 p/s797 / 2170 [-------------------------->______________________________________________] 36.73% 98 p/s817 / 2170 [--------------------------->_____________________________________________] 37.65% 98 p/s837 / 2170 [---------------------------->____________________________________________] 38.57% 98 p/s857 / 2170 [---------------------------->____________________________________________] 39.49% 98 p/s877 / 2170 [----------------------------->___________________________________________] 40.41% 98 p/s897 / 2170 [------------------------------>__________________________________________] 41.34% 98 p/s917 / 2170 [------------------------------>__________________________________________] 42.26% 98 p/s937 / 2170 [------------------------------->_________________________________________] 43.18% 98 p/s956 / 2170 [-------------------------------->________________________________________] 44.06% 98 p/s976 / 2170 [-------------------------------->________________________________________] 44.98% 98 p/s996 / 2170 [--------------------------------->_______________________________________] 45.90% 98 p/s1015 / 2170 [--------------------------------->______________________________________] 46.77% 98 p/s1034 / 2170 [---------------------------------->_____________________________________] 47.65% 98 p/s1054 / 2170 [---------------------------------->_____________________________________] 48.57% 98 p/s1074 / 2170 [----------------------------------->____________________________________] 49.49% 98 p/s1095 / 2170 [------------------------------------>___________________________________] 50.46% 98 p/s1115 / 2170 [------------------------------------>___________________________________] 51.38% 98 p/s1134 / 2170 [------------------------------------->__________________________________] 52.26% 98 p/s1154 / 2170 [-------------------------------------->_________________________________] 53.18% 98 p/s1174 / 2170 [-------------------------------------->_________________________________] 54.10% 98 p/s1194 / 2170 [--------------------------------------->________________________________] 55.02% 99 p/s1214 / 2170 [---------------------------------------->_______________________________] 55.94% 99 p/s1234 / 2170 [---------------------------------------->_______________________________] 56.87% 99 p/s1254 / 2170 [----------------------------------------->______________________________] 57.79% 99 p/s1273 / 2170 [------------------------------------------>_____________________________] 58.66% 99 p/s1293 / 2170 [------------------------------------------>_____________________________] 59.59% 99 p/s1313 / 2170 [------------------------------------------->____________________________] 60.51% 99 p/s1333 / 2170 [-------------------------------------------->___________________________] 61.43% 99 p/s1353 / 2170 [-------------------------------------------->___________________________] 62.35% 99 p/s1373 / 2170 [--------------------------------------------->__________________________] 63.27% 99 p/s1393 / 2170 [---------------------------------------------->_________________________] 64.19% 99 p/s1412 / 2170 [---------------------------------------------->_________________________] 65.07% 99 p/s1432 / 2170 [----------------------------------------------->________________________] 65.99% 99 p/s1452 / 2170 [------------------------------------------------>_______________________] 66.91% 99 p/s1472 / 2170 [------------------------------------------------>_______________________] 67.83% 99 p/s1492 / 2170 [------------------------------------------------->______________________] 68.76% 99 p/s1511 / 2170 [-------------------------------------------------->_____________________] 69.63% 99 p/s1531 / 2170 [-------------------------------------------------->_____________________] 70.55% 99 p/s1551 / 2170 [--------------------------------------------------->____________________] 71.47% 99 p/s1571 / 2170 [---------------------------------------------------->___________________] 72.40% 99 p/s1591 / 2170 [---------------------------------------------------->___________________] 73.32% 99 p/s1611 / 2170 [----------------------------------------------------->__________________] 74.24% 99 p/s1631 / 2170 [------------------------------------------------------>_________________] 75.16% 99 p/s1651 / 2170 [------------------------------------------------------>_________________] 76.08% 99 p/s1671 / 2170 [------------------------------------------------------->________________] 77.00% 99 p/s1691 / 2170 [-------------------------------------------------------->_______________] 77.93% 99 p/s1711 / 2170 [-------------------------------------------------------->_______________] 78.85% 99 p/s1730 / 2170 [--------------------------------------------------------->______________] 79.72% 99 p/s1750 / 2170 [---------------------------------------------------------->_____________] 80.65% 99 p/s1770 / 2170 [---------------------------------------------------------->_____________] 81.57% 99 p/s1790 / 2170 [----------------------------------------------------------->____________] 82.49% 99 p/s1810 / 2170 [------------------------------------------------------------>___________] 83.41% 99 p/s1830 / 2170 [------------------------------------------------------------>___________] 84.33% 99 p/s1850 / 2170 [------------------------------------------------------------->__________] 85.25% 99 p/s1870 / 2170 [-------------------------------------------------------------->_________] 86.18% 99 p/s1890 / 2170 [-------------------------------------------------------------->_________] 87.10% 99 p/s1910 / 2170 [--------------------------------------------------------------->________] 88.02% 99 p/s1929 / 2170 [---------------------------------------------------------------->_______] 88.89% 99 p/s1949 / 2170 [---------------------------------------------------------------->_______] 89.82% 99 p/s1969 / 2170 [----------------------------------------------------------------->______] 90.74% 99 p/s1989 / 2170 [----------------------------------------------------------------->______] 91.66% 99 p/s2009 / 2170 [------------------------------------------------------------------>_____] 92.58% 99 p/s2029 / 2170 [------------------------------------------------------------------->____] 93.50% 99 p/s2048 / 2170 [------------------------------------------------------------------->____] 94.38% 99 p/s2068 / 2170 [-------------------------------------------------------------------->___] 95.30% 99 p/s2088 / 2170 [--------------------------------------------------------------------->__] 96.22% 99 p/s2108 / 2170 [--------------------------------------------------------------------->__] 97.14% 99 p/s2127 / 2170 [---------------------------------------------------------------------->_] 98.02% 99 p/s2147 / 2170 [----------------------------------------------------------------------->] 98.94% 99 p/s2167 / 2170 [----------------------------------------------------------------------->] 99.86% 99 p/s2170 / 2170 [-----------------------------------------------------------------------] 100.00% 99 p/s2026-07-17T04:24:16 - 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<01:28, 24.37it/s]
  0%|          | 6/2170 [00:00<01:26, 24.94it/s]
  0%|          | 9/2170 [00:00<01:26, 24.98it/s]
  1%|          | 12/2170 [00:00<01:24, 25.64it/s]
  1%|          | 15/2170 [00:00<01:22, 26.09it/s]
  1%|          | 18/2170 [00:00<01:21, 26.40it/s]
  1%|          | 21/2170 [00:00<01:20, 26.56it/s]
  1%|          | 24/2170 [00:00<01:20, 26.69it/s]
  1%|          | 27/2170 [00:01<01:20, 26.74it/s]
  1%|▏         | 30/2170 [00:01<01:20, 26.67it/s]
  2%|▏         | 33/2170 [00:01<01:20, 26.67it/s]
  2%|▏         | 36/2170 [00:01<01:19, 26.69it/s]
  2%|▏         | 39/2170 [00:01<01:19, 26.78it/s]
  2%|▏         | 42/2170 [00:01<01:19, 26.77it/s]
  2%|▏         | 45/2170 [00:01<01:19, 26.75it/s]
  2%|▏         | 48/2170 [00:01<01:19, 26.78it/s]
  2%|▏         | 51/2170 [00:01<01:18, 26.84it/s]
  2%|▏         | 54/2170 [00:02<01:18, 26.87it/s]
  3%|▎         | 57/2170 [00:02<01:18, 26.78it/s]
  3%|▎         | 60/2170 [00:02<01:19, 26.39it/s]
  3%|▎         | 63/2170 [00:02<01:19, 26.52it/s]
  3%|▎         | 66/2170 [00:02<01:19, 26.62it/s]
  3%|▎         | 69/2170 [00:02<01:18, 26.72it/s]
  3%|▎         | 72/2170 [00:02<01:18, 26.78it/s]
  3%|▎         | 75/2170 [00:02<01:18, 26.83it/s]
  4%|▎         | 78/2170 [00:02<01:17, 26.83it/s]
  4%|▎         | 81/2170 [00:03<01:18, 26.69it/s]
  4%|▍         | 84/2170 [00:03<01:18, 26.64it/s]
  4%|▍         | 87/2170 [00:03<01:17, 26.71it/s]
  4%|▍         | 90/2170 [00:03<01:17, 26.78it/s]
  4%|▍         | 93/2170 [00:03<01:17, 26.81it/s]
  4%|▍         | 96/2170 [00:03<01:17, 26.81it/s]
  5%|▍         | 99/2170 [00:03<01:17, 26.78it/s]
  5%|▍         | 102/2170 [00:03<01:17, 26.80it/s]
  5%|▍         | 105/2170 [00:03<01:17, 26.79it/s]
  5%|▍         | 108/2170 [00:04<01:16, 26.84it/s]
  5%|▌         | 111/2170 [00:04<01:16, 26.85it/s]
  5%|▌         | 114/2170 [00:04<01:16, 26.84it/s]
  5%|▌         | 117/2170 [00:04<01:16, 26.73it/s]
  6%|▌         | 120/2170 [00:04<01:16, 26.77it/s]
  6%|▌         | 123/2170 [00:04<01:16, 26.76it/s]
  6%|▌         | 126/2170 [00:04<01:16, 26.69it/s]
  6%|▌         | 129/2170 [00:04<01:16, 26.68it/s]
  6%|▌         | 132/2170 [00:04<01:16, 26.65it/s]
  6%|▌         | 135/2170 [00:05<01:16, 26.62it/s]
  6%|▋         | 138/2170 [00:05<01:16, 26.65it/s]
  6%|▋         | 141/2170 [00:05<01:18, 25.88it/s]
  7%|▋         | 144/2170 [00:05<01:17, 26.13it/s]
  7%|▋         | 147/2170 [00:05<01:16, 26.35it/s]
  7%|▋         | 150/2170 [00:05<01:16, 26.52it/s]
  7%|▋         | 153/2170 [00:05<01:15, 26.59it/s]
  7%|▋         | 156/2170 [00:05<01:15, 26.62it/s]
  7%|▋         | 159/2170 [00:05<01:15, 26.67it/s]
  7%|▋         | 162/2170 [00:06<01:15, 26.70it/s]
  8%|▊         | 165/2170 [00:06<01:15, 26.72it/s]
  8%|▊         | 168/2170 [00:06<01:14, 26.77it/s]
  8%|▊         | 171/2170 [00:06<01:14, 26.77it/s]
  8%|▊         | 174/2170 [00:06<01:14, 26.78it/s]
  8%|▊         | 177/2170 [00:06<01:14, 26.80it/s]
  8%|▊         | 180/2170 [00:06<01:14, 26.79it/s]
  8%|▊         | 183/2170 [00:06<01:14, 26.78it/s]
  9%|▊         | 186/2170 [00:06<01:14, 26.77it/s]
  9%|▊         | 189/2170 [00:07<01:13, 26.80it/s]
  9%|▉         | 192/2170 [00:07<01:13, 26.83it/s]
  9%|▉         | 195/2170 [00:07<01:13, 26.83it/s]
  9%|▉         | 198/2170 [00:07<01:13, 26.77it/s]
  9%|▉         | 201/2170 [00:07<01:13, 26.76it/s]
  9%|▉         | 204/2170 [00:07<01:13, 26.78it/s]
 10%|▉         | 207/2170 [00:07<01:13, 26.79it/s]
 10%|▉         | 210/2170 [00:07<01:13, 26.81it/s]
 10%|▉         | 213/2170 [00:07<01:12, 26.82it/s]
 10%|▉         | 216/2170 [00:08<01:12, 26.80it/s]
 10%|█         | 219/2170 [00:08<01:12, 26.83it/s]
 10%|█         | 222/2170 [00:08<01:12, 26.77it/s]
 10%|█         | 225/2170 [00:08<01:12, 26.74it/s]
 11%|█         | 228/2170 [00:08<01:12, 26.76it/s]
 11%|█         | 231/2170 [00:08<01:12, 26.78it/s]
 11%|█         | 234/2170 [00:08<01:12, 26.77it/s]
 11%|█         | 237/2170 [00:08<01:12, 26.74it/s]
 11%|█         | 240/2170 [00:09<01:12, 26.78it/s]
 11%|█         | 243/2170 [00:09<01:11, 26.78it/s]
 11%|█▏        | 246/2170 [00:09<01:11, 26.80it/s]
 11%|█▏        | 249/2170 [00:09<01:11, 26.77it/s]
 12%|█▏        | 252/2170 [00:09<01:11, 26.77it/s]
 12%|█▏        | 255/2170 [00:09<01:11, 26.75it/s]
 12%|█▏        | 258/2170 [00:09<01:11, 26.76it/s]
 12%|█▏        | 261/2170 [00:09<01:11, 26.73it/s]
 12%|█▏        | 264/2170 [00:09<01:11, 26.73it/s]
 12%|█▏        | 267/2170 [00:10<01:11, 26.75it/s]
 12%|█▏        | 270/2170 [00:10<01:10, 26.76it/s]
 13%|█▎        | 273/2170 [00:10<01:13, 25.70it/s]
 13%|█▎        | 276/2170 [00:10<01:13, 25.88it/s]
 13%|█▎        | 279/2170 [00:10<01:12, 26.10it/s]
 13%|█▎        | 282/2170 [00:10<01:11, 26.34it/s]
 13%|█▎        | 285/2170 [00:10<01:11, 26.41it/s]
 13%|█▎        | 288/2170 [00:10<01:11, 26.49it/s]
 13%|█▎        | 291/2170 [00:10<01:10, 26.55it/s]
 14%|█▎        | 294/2170 [00:11<01:10, 26.63it/s]
 14%|█▎        | 297/2170 [00:11<01:10, 26.65it/s]
 14%|█▍        | 300/2170 [00:11<01:10, 26.70it/s]
 14%|█▍        | 303/2170 [00:11<01:09, 26.73it/s]
 14%|█▍        | 306/2170 [00:11<01:09, 26.70it/s]
 14%|█▍        | 309/2170 [00:11<01:09, 26.69it/s]
 14%|█▍        | 312/2170 [00:11<01:09, 26.72it/s]
 15%|█▍        | 315/2170 [00:11<01:09, 26.74it/s]
 15%|█▍        | 318/2170 [00:11<01:09, 26.75it/s]
 15%|█▍        | 321/2170 [00:12<01:09, 26.69it/s]
 15%|█▍        | 324/2170 [00:12<01:09, 26.68it/s]
 15%|█▌        | 327/2170 [00:12<01:08, 26.72it/s]
 15%|█▌        | 330/2170 [00:12<01:08, 26.69it/s]
 15%|█▌        | 333/2170 [00:12<01:08, 26.68it/s]
 15%|█▌        | 336/2170 [00:12<01:08, 26.71it/s]
 16%|█▌        | 339/2170 [00:12<01:08, 26.74it/s]
 16%|█▌        | 342/2170 [00:12<01:08, 26.73it/s]
 16%|█▌        | 345/2170 [00:12<01:08, 26.68it/s]
 16%|█▌        | 348/2170 [00:13<01:08, 26.71it/s]
 16%|█▌        | 351/2170 [00:13<01:08, 26.67it/s]
 16%|█▋        | 354/2170 [00:13<01:08, 26.65it/s]
 16%|█▋        | 357/2170 [00:13<01:08, 26.60it/s]
 17%|█▋        | 360/2170 [00:13<01:08, 26.60it/s]
 17%|█▋        | 363/2170 [00:13<01:07, 26.63it/s]
 17%|█▋        | 366/2170 [00:13<01:07, 26.64it/s]
 17%|█▋        | 369/2170 [00:13<01:07, 26.60it/s]
 17%|█▋        | 372/2170 [00:13<01:07, 26.63it/s]
 17%|█▋        | 375/2170 [00:14<01:07, 26.62it/s]
 17%|█▋        | 378/2170 [00:14<01:07, 26.63it/s]
 18%|█▊        | 381/2170 [00:14<01:07, 26.59it/s]
 18%|█▊        | 384/2170 [00:14<01:07, 26.59it/s]
 18%|█▊        | 387/2170 [00:14<01:06, 26.62it/s]
 18%|█▊        | 390/2170 [00:14<01:06, 26.62it/s]
 18%|█▊        | 393/2170 [00:14<01:06, 26.59it/s]
 18%|█▊        | 396/2170 [00:14<01:06, 26.60it/s]
 18%|█▊        | 399/2170 [00:14<01:06, 26.58it/s]
 19%|█▊        | 402/2170 [00:15<01:06, 26.59it/s]
 19%|█▊        | 405/2170 [00:15<01:06, 26.61it/s]
 19%|█▉        | 408/2170 [00:15<01:09, 25.30it/s]
 19%|█▉        | 411/2170 [00:15<01:08, 25.77it/s]
 19%|█▉        | 414/2170 [00:15<01:07, 26.05it/s]
 19%|█▉        | 417/2170 [00:15<01:06, 26.32it/s]
 19%|█▉        | 420/2170 [00:15<01:06, 26.35it/s]
 19%|█▉        | 423/2170 [00:15<01:06, 26.24it/s]
 20%|█▉        | 426/2170 [00:16<01:06, 26.34it/s]
 20%|█▉        | 429/2170 [00:16<01:06, 26.36it/s]
 20%|█▉        | 432/2170 [00:16<01:05, 26.38it/s]
 20%|██        | 435/2170 [00:16<01:05, 26.38it/s]
 20%|██        | 438/2170 [00:16<01:05, 26.35it/s]
 20%|██        | 441/2170 [00:16<01:05, 26.39it/s]
 20%|██        | 444/2170 [00:16<01:05, 26.43it/s]
 21%|██        | 447/2170 [00:16<01:04, 26.51it/s]
 21%|██        | 450/2170 [00:16<01:04, 26.54it/s]
 21%|██        | 453/2170 [00:17<01:04, 26.55it/s]
 21%|██        | 456/2170 [00:17<01:04, 26.51it/s]
 21%|██        | 459/2170 [00:17<01:04, 26.52it/s]
 21%|██▏       | 462/2170 [00:17<01:04, 26.49it/s]
 21%|██▏       | 465/2170 [00:17<01:04, 26.48it/s]
 22%|██▏       | 468/2170 [00:17<01:04, 26.49it/s]
 22%|██▏       | 471/2170 [00:17<01:04, 26.54it/s]
 22%|██▏       | 474/2170 [00:17<01:03, 26.55it/s]
 22%|██▏       | 477/2170 [00:17<01:03, 26.51it/s]
 22%|██▏       | 480/2170 [00:18<01:03, 26.45it/s]
 22%|██▏       | 483/2170 [00:18<01:03, 26.46it/s]
 22%|██▏       | 486/2170 [00:18<01:03, 26.49it/s]
 23%|██▎       | 489/2170 [00:18<01:03, 26.48it/s]
 23%|██▎       | 492/2170 [00:18<01:03, 26.42it/s]
 23%|██▎       | 495/2170 [00:18<01:03, 26.42it/s]
 23%|██▎       | 498/2170 [00:18<01:03, 26.46it/s]
 23%|██▎       | 501/2170 [00:18<01:03, 26.21it/s]
 23%|██▎       | 504/2170 [00:18<01:03, 26.13it/s]
 23%|██▎       | 507/2170 [00:19<01:03, 26.22it/s]
 24%|██▎       | 510/2170 [00:19<01:02, 26.36it/s]
 24%|██▎       | 513/2170 [00:19<01:02, 26.44it/s]
 24%|██▍       | 516/2170 [00:19<01:02, 26.52it/s]
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2026-07-17T04:25:39 - WARNING: Expected 400 beams, got 155, dropping sweep 2169
2026-07-17T04:25:39 - 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"
usage: __main__.py [-h] [--version] [-v] [-o OUTPUT] [-f]
                   [--counter | --no-counter] [--video | --no-video]
                   [--laser | --no-laser] [--sonar | --no-sonar]
                   [--imu | --no-imu] [--track-format {json,cbor}]
                   [--sonar-format {json,cbor}]
                   [--sonar-ptd-format {json,cbor,binary}]
                   [--imu-format {json,cbor}] [--image-format {jpg,png}]
                   [--timesync {none,clap,auto}]
                   [--clapper-threshold CLAPPER_THRESHOLD]
                   [--clapper-group-min CLAPPER_GROUP_MIN]
                   [--clapper-group-max CLAPPER_GROUP_MAX] [--only-tracks]
                   [--zip-images | --no-zip-images] [--keep-loose]
                   [--video-inject-metadata | --no-video-inject-metadata]
                   [--video-single-cam] [--start-time START_TIME]
                   [--end-time END_TIME] [--debug-ts DEBUG_TS]
                   [--debug-frame DEBUG_FRAME] [--debug-time DEBUG_TIME]
                   [--debug-distance DEBUG_DISTANCE] [--frame-rate FRAME_RATE]
                   [--frame-scale FRAME_SCALE] [--ignore-cam-epochs]
                   [--exposure EXPOSURE] [--curves CURVES]
                   [--gamma-correction] [--gamma-lower GAMMA_LOWER]
                   [--gamma-upper GAMMA_UPPER] [--decontaminate]
                   [--temperature TEMPERATURE] [--salinity SALINITY]
                   [--pressure PRESSURE] [--sonar-mask-angle SONAR_MASK_ANGLE]
                   [--sonar-despike | --no-sonar-despike] [--sonar-flip]
                   [--sonar-raw]
                   [--sonar-distance-threshold SONAR_DISTANCE_THRESHOLD]
                   [--sonar-sample-offset SONAR_SAMPLE_OFFSET]
                   [--sonar-near-field-ratio SONAR_NEAR_FIELD_RATIO]
                   [--sonar-threshold-sigma SONAR_THRESHOLD_SIGMA]
                   [--sonar-min-threshold SONAR_MIN_THRESHOLD]
                   [--sonar-row-weighting | --no-sonar-row-weighting]
                   [--sonar-edge-path | --no-sonar-edge-path]
                   [--sonar-edge-candidate-count SONAR_EDGE_CANDIDATE_COUNT]
                   [--sonar-edge-window-samples SONAR_EDGE_WINDOW_SAMPLES]
                   [--sonar-edge-min-gradient SONAR_EDGE_MIN_GRADIENT]
                   [--sonar-edge-min-intensity SONAR_EDGE_MIN_INTENSITY]
                   [--sonar-edge-jump-penalty SONAR_EDGE_JUMP_PENALTY]
                   [--sonar-edge-missing-beam-penalty SONAR_EDGE_MISSING_BEAM_PENALTY]
                   [--sonar-edge-max-beam-gap SONAR_EDGE_MAX_BEAM_GAP]
                   [--sonar-edge-max-sample-jump SONAR_EDGE_MAX_SAMPLE_JUMP]
                   [--sonar-edge-max-total-sample-jump SONAR_EDGE_MAX_TOTAL_SAMPLE_JUMP]
                   [--sonar-edge-path-count SONAR_EDGE_PATH_COUNT]
                   [--sonar-edge-path-suppression-samples SONAR_EDGE_PATH_SUPPRESSION_SAMPLES]
                   [--sonar-edge-path-range-weight SONAR_EDGE_PATH_RANGE_WEIGHT]
                   [--sonar-edge-path-smoothness-penalty SONAR_EDGE_PATH_SMOOTHNESS_PENALTY]
                   [--sonar-edge-path-max-beam-span-ratio SONAR_EDGE_PATH_MAX_BEAM_SPAN_RATIO]
                   [--sonar-edge-outer-envelope-beam-radius SONAR_EDGE_OUTER_ENVELOPE_BEAM_RADIUS]
                   [--sonar-edge-outer-envelope-margin-samples SONAR_EDGE_OUTER_ENVELOPE_MARGIN_SAMPLES]
                   [--sonar-edge-outer-envelope-penalty SONAR_EDGE_OUTER_ENVELOPE_PENALTY]
                   [--sonar-component-max-count SONAR_COMPONENT_MAX_COUNT]
                   [--sonar-component-edge-min-points SONAR_COMPONENT_EDGE_MIN_POINTS]
                   [--sonar-component-edge-threshold-ratio SONAR_COMPONENT_EDGE_THRESHOLD_RATIO]
                   [--sonar-component-edge-min-intensity SONAR_COMPONENT_EDGE_MIN_INTENSITY]
                   [--sonar-component-close-beams SONAR_COMPONENT_CLOSE_BEAMS]
                   [--sonar-component-close-samples SONAR_COMPONENT_CLOSE_SAMPLES]
                   [--sonar-component-min-area SONAR_COMPONENT_MIN_AREA]
                   [--sonar-component-min-density SONAR_COMPONENT_MIN_DENSITY]
                   [--sonar-component-min-beam-span SONAR_COMPONENT_MIN_BEAM_SPAN]
                   [--sonar-component-min-edge-coverage SONAR_COMPONENT_MIN_EDGE_COVERAGE]
                   [--sonar-component-score-ratio SONAR_COMPONENT_SCORE_RATIO]
                   [--sonar-break-gap-beams SONAR_BREAK_GAP_BEAMS]
                   [--sonar-break-gap-samples SONAR_BREAK_GAP_SAMPLES]
                   [--sonar-despike-sample-threshold SONAR_DESPIKE_SAMPLE_THRESHOLD]
                   [--sonar-despike-neighbor-threshold SONAR_DESPIKE_NEIGHBOR_THRESHOLD]
                   [--sonar-despike-max-beam-gap SONAR_DESPIKE_MAX_BEAM_GAP]
                   [--sonar-min-segment-points SONAR_MIN_SEGMENT_POINTS]
                   [--sonar-smooth-window SONAR_SMOOTH_WINDOW]
                   [--sonar-smooth-passes SONAR_SMOOTH_PASSES]
                   [--write-result] [--result-path RESULT_PATH]
                   [--make-disk-image]
                   path
__main__.py: error: unrecognized arguments: --sonar-cluster-size /working/2ec7c4cc-58ef-1243-c1eb-d532deadc16c/2ec7c4cc-58ef-1243-c1eb-d532deadc16c
Traceback (most recent call last):
  File "/app/src/msip3d/__main__.py", line 276, in main
    msip3d.sonar.extract_sonar(
  File "/app/src/msip3d/sonar.py", line 129, in extract_sonar
    subprocess.run(cmd, check=True)
  File "/usr/local/lib/python3.11/subprocess.py", line 571, in run
    raise CalledProcessError(retcode, process.args,
subprocess.CalledProcessError: Command '['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']' returned non-zero exit status 2.