+ [ 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/54ed0cc0-4a0a-2802-9721-ceacbcf85df9
2026-07-17T04:32:30 - INFO: MSIP3D 0.2.9
2026-07-17T04:32:31 - INFO: P3D files will be output to /working/54ed0cc0-4a0a-2802-9721-ceacbcf85df9/54ed0cc0-4a0a-2802-9721-ceacbcf85df9
2026-07-17T04:32:31 - INFO: Found 11 TFD dictionary entries
2026-07-17T04:32:31 - INFO: Found TFD mission for 2376SS
2026-07-17T04:32:31 - INFO: Recording will be processed as SMD
2026-07-17T04:32:31 - INFO: Copying assets JSON to output directory...
2026-07-17T04:32:31 - INFO: Preparing counter data...
2026-07-17T04:32:31 - INFO: Interpreting counter as imperial
2026-07-17T04:32:31 - INFO: Preparing size track from assets JSON...
2026-07-17T04:32:31 - INFO: Preparing shape track from assets JSON...
2026-07-17T04:32:31 - INFO: Preparing material track from assets JSON...
2026-07-17T04:32:31 - INFO: Prepared counter data in 0.2154 s
2026-07-17T04:32:31 - 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: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720644
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855215978501720643
Getting track SONAR
Number of frames: 4816
18 / 4816 [>___________________________________________________________________________] 0.37% ? p/s36 / 4816 [>___________________________________________________________________________] 0.75% ? p/s56 / 4816 [>___________________________________________________________________________] 1.16% ? p/s74 / 4816 [->_________________________________________________________________________] 1.54% 93 p/s94 / 4816 [->_________________________________________________________________________] 1.95% 93 p/s112 / 4816 [->________________________________________________________________________] 2.33% 93 p/s131 / 4816 [-->_______________________________________________________________________] 2.72% 93 p/s149 / 4816 [-->_______________________________________________________________________] 3.09% 93 p/s169 / 4816 [-->_______________________________________________________________________] 3.51% 93 p/s190 / 4816 [-->_______________________________________________________________________] 3.95% 94 p/s209 / 4816 [--->______________________________________________________________________] 4.34% 94 p/s229 / 4816 [--->______________________________________________________________________] 4.75% 94 p/s249 / 4816 [--->______________________________________________________________________] 5.17% 94 p/s269 / 4816 [---->_____________________________________________________________________] 5.59% 94 p/s289 / 4816 [---->_____________________________________________________________________] 6.00% 94 p/s309 / 4816 [---->_____________________________________________________________________] 6.42% 94 p/s329 / 4816 [----->____________________________________________________________________] 6.83% 94 p/s349 / 4816 [----->____________________________________________________________________] 7.25% 94 p/s369 / 4816 [----->____________________________________________________________________] 7.66% 95 p/s389 / 4816 [----->____________________________________________________________________] 8.08% 95 p/s409 / 4816 [------>___________________________________________________________________] 8.49% 95 p/s429 / 4816 [------>___________________________________________________________________] 8.91% 95 p/s449 / 4816 [------>___________________________________________________________________] 9.32% 95 p/s469 / 4816 [------->__________________________________________________________________] 9.74% 95 p/s489 / 4816 [------->_________________________________________________________________] 10.15% 95 p/s508 / 4816 [------->_________________________________________________________________] 10.55% 95 p/s528 / 4816 [-------->________________________________________________________________] 10.96% 95 p/s548 / 4816 [-------->________________________________________________________________] 11.38% 96 p/s569 / 4816 [-------->________________________________________________________________] 11.81% 96 p/s589 / 4816 [-------->________________________________________________________________] 12.23% 96 p/s608 / 4816 [--------->_______________________________________________________________] 12.62% 96 p/s628 / 4816 [--------->_______________________________________________________________] 13.04% 96 p/s649 / 4816 [--------->_______________________________________________________________] 13.48% 96 p/s669 / 4816 [---------->______________________________________________________________] 13.89% 96 p/s689 / 4816 [---------->______________________________________________________________] 14.31% 96 p/s709 / 4816 [---------->______________________________________________________________] 14.72% 96 p/s729 / 4816 [----------->_____________________________________________________________] 15.14% 97 p/s749 / 4816 [----------->_____________________________________________________________] 15.55% 97 p/s769 / 4816 [----------->_____________________________________________________________] 15.97% 97 p/s789 / 4816 [----------->_____________________________________________________________] 16.38% 97 p/s809 / 4816 [------------>____________________________________________________________] 16.80% 97 p/s830 / 4816 [------------>____________________________________________________________] 17.23% 97 p/s849 / 4816 [------------>____________________________________________________________] 17.63% 97 p/s870 / 4816 [------------->___________________________________________________________] 18.06% 97 p/s889 / 4816 [------------->___________________________________________________________] 18.46% 97 p/s910 / 4816 [------------->___________________________________________________________] 18.90% 97 p/s929 / 4816 [-------------->__________________________________________________________] 19.29% 97 p/s949 / 4816 [-------------->__________________________________________________________] 19.71% 97 p/s969 / 4816 [-------------->__________________________________________________________] 20.12% 97 p/s989 / 4816 [-------------->__________________________________________________________] 20.54% 97 p/s1006 / 4816 [--------------->________________________________________________________] 20.89% 97 p/s1025 / 4816 [--------------->________________________________________________________] 21.28% 97 p/s1045 / 4816 [--------------->________________________________________________________] 21.70% 97 p/s1064 / 4816 [--------------->________________________________________________________] 22.09% 97 p/s1084 / 4816 [---------------->_______________________________________________________] 22.51% 97 p/s1104 / 4816 [---------------->_______________________________________________________] 22.92% 97 p/s1124 / 4816 [---------------->_______________________________________________________] 23.34% 97 p/s1144 / 4816 [----------------->______________________________________________________] 23.75% 97 p/s1164 / 4816 [----------------->______________________________________________________] 24.17% 97 p/s1185 / 4816 [----------------->______________________________________________________] 24.61% 97 p/s1204 / 4816 [----------------->______________________________________________________] 25.00% 98 p/s1224 / 4816 [------------------>_____________________________________________________] 25.42% 98 p/s1244 / 4816 [------------------>_____________________________________________________] 25.83% 98 p/s1264 / 4816 [------------------>_____________________________________________________] 26.25% 98 p/s1284 / 4816 [------------------->____________________________________________________] 26.66% 98 p/s1304 / 4816 [------------------->____________________________________________________] 27.08% 98 p/s1325 / 4816 [------------------->____________________________________________________] 27.51% 98 p/s1345 / 4816 [-------------------->___________________________________________________] 27.93% 98 p/s1365 / 4816 [-------------------->___________________________________________________] 28.34% 98 p/s1385 / 4816 [-------------------->___________________________________________________] 28.76% 98 p/s1405 / 4816 [--------------------->__________________________________________________] 29.17% 98 p/s1425 / 4816 [--------------------->__________________________________________________] 29.59% 98 p/s1445 / 4816 [--------------------->__________________________________________________] 30.00% 98 p/s1465 / 4816 [--------------------->__________________________________________________] 30.42% 98 p/s1486 / 4816 [---------------------->_________________________________________________] 30.86% 98 p/s1506 / 4816 [---------------------->_________________________________________________] 31.27% 98 p/s1526 / 4816 [---------------------->_________________________________________________] 31.69% 98 p/s1546 / 4816 [----------------------->________________________________________________] 32.10% 98 p/s1566 / 4816 [----------------------->________________________________________________] 32.52% 99 p/s1586 / 4816 [----------------------->________________________________________________] 32.93% 99 p/s1606 / 4816 [------------------------>_______________________________________________] 33.35% 99 p/s1626 / 4816 [------------------------>_______________________________________________] 33.76% 99 p/s1646 / 4816 [------------------------>_______________________________________________] 34.18% 99 p/s1666 / 4816 [------------------------>_______________________________________________] 34.59% 99 p/s1687 / 4816 [------------------------->______________________________________________] 35.03% 99 p/s1707 / 4816 [------------------------->______________________________________________] 35.44% 99 p/s1727 / 4816 [------------------------->______________________________________________] 35.86% 99 p/s1747 / 4816 [-------------------------->_____________________________________________] 36.27% 99 p/s1767 / 4816 [-------------------------->_____________________________________________] 36.69% 99 p/s1787 / 4816 [-------------------------->_____________________________________________] 37.11% 99 p/s1807 / 4816 [--------------------------->____________________________________________] 37.52% 99 p/s1827 / 4816 [--------------------------->____________________________________________] 37.94% 99 p/s1847 / 4816 [--------------------------->____________________________________________] 38.35% 99 p/s1867 / 4816 [--------------------------->____________________________________________] 38.77% 99 p/s1888 / 4816 [---------------------------->___________________________________________] 39.20% 99 p/s1908 / 4816 [---------------------------->___________________________________________] 39.62% 99 p/s1928 / 4816 [---------------------------->___________________________________________] 40.03% 99 p/s1948 / 4816 [----------------------------->__________________________________________] 40.45% 99 p/s1968 / 4816 [----------------------------->__________________________________________] 40.86% 99 p/s1988 / 4816 [----------------------------->__________________________________________] 41.28% 99 p/s2008 / 4816 [------------------------------>_________________________________________] 41.69% 99 p/s2028 / 4816 [------------------------------>_________________________________________] 42.11% 99 p/s2047 / 4816 [------------------------------>_________________________________________] 42.50% 99 p/s2067 / 4816 [------------------------------>_________________________________________] 42.92% 99 p/s2088 / 4816 [------------------------------->________________________________________] 43.36% 99 p/s2108 / 4816 [------------------------------->________________________________________] 43.77% 99 p/s2128 / 4816 [------------------------------->________________________________________] 44.19% 99 p/s2148 / 4816 [-------------------------------->_______________________________________] 44.60% 99 p/s2168 / 4816 [-------------------------------->_______________________________________] 45.02% 99 p/s2188 / 4816 [-------------------------------->_______________________________________] 45.43% 99 p/s2208 / 4816 [--------------------------------->______________________________________] 45.85% 99 p/s2228 / 4816 [--------------------------------->______________________________________] 46.26% 99 p/s2249 / 4816 [--------------------------------->______________________________________] 46.70% 99 p/s2269 / 4816 [--------------------------------->______________________________________] 47.11% 99 p/s2289 / 4816 [--------------------------------->_____________________________________] 47.53% 100 p/s2309 / 4816 [---------------------------------->____________________________________] 47.94% 100 p/s2329 / 4816 [---------------------------------->____________________________________] 48.36% 100 p/s2349 / 4816 [---------------------------------->____________________________________] 48.77% 100 p/s2369 / 4816 [---------------------------------->____________________________________] 49.19% 100 p/s2389 / 4816 [----------------------------------->___________________________________] 49.61% 100 p/s2409 / 4816 [----------------------------------->___________________________________] 50.02% 100 p/s2429 / 4816 [----------------------------------->___________________________________] 50.44% 100 p/s2449 / 4816 [------------------------------------>__________________________________] 50.85% 100 p/s2469 / 4816 [------------------------------------>__________________________________] 51.27% 100 p/s2489 / 4816 [------------------------------------>__________________________________] 51.68% 100 p/s2509 / 4816 [------------------------------------>__________________________________] 52.10% 100 p/s2529 / 4816 [------------------------------------->_________________________________] 52.51% 100 p/s2549 / 4816 [------------------------------------->_________________________________] 52.93% 100 p/s2569 / 4816 [------------------------------------->_________________________________] 53.34% 100 p/s2589 / 4816 [-------------------------------------->________________________________] 53.76% 100 p/s2609 / 4816 [-------------------------------------->________________________________] 54.17% 100 p/s2629 / 4816 [-------------------------------------->________________________________] 54.59% 100 p/s2650 / 4816 [--------------------------------------->_______________________________] 55.02% 100 p/s2670 / 4816 [--------------------------------------->_______________________________] 55.44% 100 p/s2690 / 4816 [--------------------------------------->_______________________________] 55.86% 100 p/s2709 / 4816 [--------------------------------------->_______________________________] 56.25% 100 p/s2729 / 4816 [---------------------------------------->______________________________] 56.67% 100 p/s2749 / 4816 [---------------------------------------->______________________________] 57.08% 100 p/s2769 / 4816 [---------------------------------------->______________________________] 57.50% 100 p/s2789 / 4816 [----------------------------------------->_____________________________] 57.91% 100 p/s2809 / 4816 [----------------------------------------->_____________________________] 58.33% 100 p/s2829 / 4816 [----------------------------------------->_____________________________] 58.74% 100 p/s2849 / 4816 [------------------------------------------>____________________________] 59.16% 100 p/s2869 / 4816 [------------------------------------------>____________________________] 59.57% 100 p/s2890 / 4816 [------------------------------------------>____________________________] 60.01% 100 p/s2910 / 4816 [------------------------------------------>____________________________] 60.42% 100 p/s2930 / 4816 [------------------------------------------->___________________________] 60.84% 100 p/s2949 / 4816 [------------------------------------------->___________________________] 61.23% 100 p/s2969 / 4816 [------------------------------------------->___________________________] 61.65% 100 p/s2989 / 4816 [-------------------------------------------->__________________________] 62.06% 100 p/s3009 / 4816 [-------------------------------------------->__________________________] 62.48% 100 p/s3029 / 4816 [-------------------------------------------->__________________________] 62.89% 100 p/s3049 / 4816 [-------------------------------------------->__________________________] 63.31% 100 p/s3069 / 4816 [--------------------------------------------->_________________________] 63.73% 100 p/s3088 / 4816 [--------------------------------------------->_________________________] 64.12% 100 p/s3109 / 4816 [--------------------------------------------->_________________________] 64.56% 100 p/s3129 / 4816 [---------------------------------------------->________________________] 64.97% 100 p/s3148 / 4816 [---------------------------------------------->________________________] 65.37% 100 p/s3169 / 4816 [---------------------------------------------->________________________] 65.80% 100 p/s3189 / 4816 [----------------------------------------------->_______________________] 66.22% 100 p/s3209 / 4816 [----------------------------------------------->_______________________] 66.63% 100 p/s3229 / 4816 [----------------------------------------------->_______________________] 67.05% 100 p/s3249 / 4816 [----------------------------------------------->_______________________] 67.46% 100 p/s3268 / 4816 [------------------------------------------------>______________________] 67.86% 100 p/s3288 / 4816 [------------------------------------------------>______________________] 68.27% 100 p/s3308 / 4816 [------------------------------------------------>______________________] 68.69% 100 p/s3329 / 4816 [------------------------------------------------->_____________________] 69.12% 100 p/s3349 / 4816 [------------------------------------------------->_____________________] 69.54% 100 p/s3369 / 4816 [------------------------------------------------->_____________________] 69.95% 100 p/s3389 / 4816 [------------------------------------------------->_____________________] 70.37% 100 p/s3409 / 4816 [-------------------------------------------------->____________________] 70.78% 100 p/s3429 / 4816 [-------------------------------------------------->____________________] 71.20% 100 p/s3449 / 4816 [-------------------------------------------------->____________________] 71.62% 100 p/s3469 / 4816 [--------------------------------------------------->___________________] 72.03% 100 p/s3489 / 4816 [--------------------------------------------------->___________________] 72.45% 100 p/s3509 / 4816 [--------------------------------------------------->___________________] 72.86% 100 p/s3529 / 4816 [---------------------------------------------------->__________________] 73.28% 100 p/s3549 / 4816 [---------------------------------------------------->__________________] 73.69% 100 p/s3569 / 4816 [---------------------------------------------------->__________________] 74.11% 100 p/s3589 / 4816 [---------------------------------------------------->__________________] 74.52% 100 p/s3609 / 4816 [----------------------------------------------------->_________________] 74.94% 100 p/s3629 / 4816 [----------------------------------------------------->_________________] 75.35% 100 p/s3649 / 4816 [----------------------------------------------------->_________________] 75.77% 100 p/s3669 / 4816 [------------------------------------------------------>________________] 76.18% 100 p/s3689 / 4816 [------------------------------------------------------>________________] 76.60% 100 p/s3709 / 4816 [------------------------------------------------------>________________] 77.01% 100 p/s3729 / 4816 [------------------------------------------------------>________________] 77.43% 100 p/s3749 / 4816 [------------------------------------------------------->_______________] 77.84% 100 p/s3769 / 4816 [------------------------------------------------------->_______________] 78.26% 100 p/s3789 / 4816 [------------------------------------------------------->_______________] 78.68% 100 p/s3809 / 4816 [-------------------------------------------------------->______________] 79.09% 100 p/s3829 / 4816 [-------------------------------------------------------->______________] 79.51% 100 p/s3849 / 4816 [-------------------------------------------------------->______________] 79.92% 100 p/s3868 / 4816 [--------------------------------------------------------->_____________] 80.32% 100 p/s3887 / 4816 [--------------------------------------------------------->_____________] 80.71% 100 p/s3907 / 4816 [--------------------------------------------------------->_____________] 81.13% 100 p/s3927 / 4816 [--------------------------------------------------------->_____________] 81.54% 100 p/s3947 / 4816 [---------------------------------------------------------->____________] 81.96% 100 p/s3967 / 4816 [---------------------------------------------------------->____________] 82.37% 100 p/s3987 / 4816 [---------------------------------------------------------->____________] 82.79% 100 p/s4007 / 4816 [----------------------------------------------------------->___________] 83.20% 100 p/s4027 / 4816 [----------------------------------------------------------->___________] 83.62% 100 p/s4047 / 4816 [----------------------------------------------------------->___________] 84.03% 100 p/s4067 / 4816 [----------------------------------------------------------->___________] 84.45% 100 p/s4087 / 4816 [------------------------------------------------------------>__________] 84.86% 100 p/s4106 / 4816 [------------------------------------------------------------>__________] 85.26% 100 p/s4126 / 4816 [------------------------------------------------------------>__________] 85.67% 100 p/s4146 / 4816 [------------------------------------------------------------->_________] 86.09% 100 p/s4166 / 4816 [------------------------------------------------------------->_________] 86.50% 100 p/s4186 / 4816 [------------------------------------------------------------->_________] 86.92% 100 p/s4206 / 4816 [-------------------------------------------------------------->________] 87.33% 100 p/s4226 / 4816 [-------------------------------------------------------------->________] 87.75% 100 p/s4246 / 4816 [-------------------------------------------------------------->________] 88.16% 100 p/s4266 / 4816 [-------------------------------------------------------------->________] 88.58% 100 p/s4286 / 4816 [--------------------------------------------------------------->_______] 89.00% 100 p/s4307 / 4816 [--------------------------------------------------------------->_______] 89.43% 100 p/s4326 / 4816 [--------------------------------------------------------------->_______] 89.83% 100 p/s4346 / 4816 [---------------------------------------------------------------->______] 90.24% 100 p/s4367 / 4816 [---------------------------------------------------------------->______] 90.68% 100 p/s4386 / 4816 [---------------------------------------------------------------->______] 91.07% 100 p/s4406 / 4816 [---------------------------------------------------------------->______] 91.49% 100 p/s4426 / 4816 [----------------------------------------------------------------->_____] 91.90% 100 p/s4446 / 4816 [----------------------------------------------------------------->_____] 92.32% 100 p/s4466 / 4816 [----------------------------------------------------------------->_____] 92.73% 100 p/s4486 / 4816 [------------------------------------------------------------------>____] 93.15% 100 p/s4506 / 4816 [------------------------------------------------------------------>____] 93.56% 100 p/s4526 / 4816 [------------------------------------------------------------------>____] 93.98% 100 p/s4546 / 4816 [------------------------------------------------------------------->___] 94.39% 100 p/s4567 / 4816 [------------------------------------------------------------------->___] 94.83% 100 p/s4587 / 4816 [------------------------------------------------------------------->___] 95.25% 100 p/s4607 / 4816 [------------------------------------------------------------------->___] 95.66% 100 p/s4627 / 4816 [-------------------------------------------------------------------->__] 96.08% 100 p/s4647 / 4816 [-------------------------------------------------------------------->__] 96.49% 100 p/s4667 / 4816 [-------------------------------------------------------------------->__] 96.91% 100 p/s4687 / 4816 [--------------------------------------------------------------------->_] 97.32% 100 p/s4707 / 4816 [--------------------------------------------------------------------->_] 97.74% 100 p/s4727 / 4816 [--------------------------------------------------------------------->_] 98.15% 100 p/s4747 / 4816 [--------------------------------------------------------------------->_] 98.57% 100 p/s4767 / 4816 [---------------------------------------------------------------------->] 98.98% 100 p/s4786 / 4816 [---------------------------------------------------------------------->] 99.38% 100 p/s4806 / 4816 [---------------------------------------------------------------------->] 99.79% 100 p/s4816 / 4816 [----------------------------------------------------------------------] 100.00% 100 p/s2026-07-17T04:33:19 - 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<03:15, 24.55it/s]
  0%|          | 9/4816 [00:00<03:10, 25.18it/s]
  0%|          | 12/4816 [00:00<03:08, 25.53it/s]
  0%|          | 15/4816 [00:00<03:07, 25.56it/s]
  0%|          | 18/4816 [00:00<03:05, 25.84it/s]
  0%|          | 21/4816 [00:00<03:04, 26.01it/s]
  0%|          | 24/4816 [00:00<03:03, 26.13it/s]
  1%|          | 27/4816 [00:01<03:02, 26.26it/s]
  1%|          | 30/4816 [00:01<03:01, 26.36it/s]
  1%|          | 33/4816 [00:01<03:02, 26.23it/s]
  1%|          | 36/4816 [00:01<03:01, 26.33it/s]
  1%|          | 39/4816 [00:01<03:01, 26.35it/s]
  1%|          | 42/4816 [00:01<03:01, 26.36it/s]
  1%|          | 45/4816 [00:01<03:01, 26.32it/s]
  1%|          | 48/4816 [00:01<03:00, 26.38it/s]
  1%|          | 51/4816 [00:01<03:00, 26.44it/s]
  1%|          | 54/4816 [00:02<03:00, 26.42it/s]
  1%|          | 57/4816 [00:02<03:01, 26.20it/s]
  1%|          | 60/4816 [00:02<03:01, 26.27it/s]
  1%|▏         | 63/4816 [00:02<03:00, 26.34it/s]
  1%|▏         | 66/4816 [00:02<03:00, 26.36it/s]
  1%|▏         | 69/4816 [00:02<02:59, 26.38it/s]
  1%|▏         | 72/4816 [00:02<03:04, 25.66it/s]
  2%|▏         | 75/4816 [00:02<03:03, 25.87it/s]
  2%|▏         | 78/4816 [00:02<03:01, 26.07it/s]
  2%|▏         | 81/4816 [00:03<03:00, 26.25it/s]
  2%|▏         | 84/4816 [00:03<03:00, 26.27it/s]
  2%|▏         | 87/4816 [00:03<02:59, 26.31it/s]
  2%|▏         | 90/4816 [00:03<02:59, 26.39it/s]
  2%|▏         | 93/4816 [00:03<02:58, 26.43it/s]
  2%|▏         | 96/4816 [00:03<02:58, 26.45it/s]
  2%|▏         | 99/4816 [00:03<02:58, 26.49it/s]
  2%|▏         | 102/4816 [00:03<02:57, 26.54it/s]
  2%|▏         | 105/4816 [00:04<02:57, 26.57it/s]
  2%|▏         | 108/4816 [00:04<02:57, 26.53it/s]
  2%|▏         | 111/4816 [00:04<02:57, 26.52it/s]
  2%|▏         | 114/4816 [00:04<02:57, 26.51it/s]
  2%|▏         | 117/4816 [00:04<02:57, 26.48it/s]
  2%|▏         | 120/4816 [00:04<02:57, 26.39it/s]
  3%|▎         | 123/4816 [00:04<02:58, 26.36it/s]
  3%|▎         | 126/4816 [00:04<02:57, 26.37it/s]
  3%|▎         | 129/4816 [00:04<02:58, 26.30it/s]
  3%|▎         | 132/4816 [00:05<02:57, 26.36it/s]
  3%|▎         | 135/4816 [00:05<02:57, 26.44it/s]
  3%|▎         | 138/4816 [00:05<02:57, 26.41it/s]
  3%|▎         | 141/4816 [00:05<02:56, 26.42it/s]
  3%|▎         | 144/4816 [00:05<02:56, 26.40it/s]
  3%|▎         | 147/4816 [00:05<02:56, 26.41it/s]
  3%|▎         | 150/4816 [00:05<02:56, 26.37it/s]
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  3%|▎         | 159/4816 [00:06<02:56, 26.44it/s]
  3%|▎         | 162/4816 [00:06<03:04, 25.26it/s]
  3%|▎         | 165/4816 [00:06<03:02, 25.55it/s]
  3%|▎         | 168/4816 [00:06<03:00, 25.72it/s]
  4%|▎         | 171/4816 [00:06<02:59, 25.93it/s]
  4%|▎         | 174/4816 [00:06<02:57, 26.11it/s]
  4%|▎         | 177/4816 [00:06<02:57, 26.16it/s]
  4%|▎         | 180/4816 [00:06<02:56, 26.20it/s]
  4%|▍         | 183/4816 [00:06<02:56, 26.29it/s]
  4%|▍         | 186/4816 [00:07<02:56, 26.31it/s]
  4%|▍         | 189/4816 [00:07<02:55, 26.32it/s]
  4%|▍         | 192/4816 [00:07<02:56, 26.26it/s]
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  4%|▍         | 198/4816 [00:07<02:54, 26.42it/s]
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  4%|▍         | 204/4816 [00:07<03:01, 25.40it/s]
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  4%|▍         | 216/4816 [00:08<02:55, 26.16it/s]
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  5%|▌         | 243/4816 [00:09<02:53, 26.36it/s]
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  5%|▌         | 249/4816 [00:09<02:53, 26.36it/s]
  5%|▌         | 252/4816 [00:09<02:53, 26.32it/s]
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2026-07-17T04:36:27 - WARNING: Expected 400 beams, got 180, dropping sweep 4815
2026-07-17T04:36:27 - 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"
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/54ed0cc0-4a0a-2802-9721-ceacbcf85df9/54ed0cc0-4a0a-2802-9721-ceacbcf85df9
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/54ed0cc0-4a0a-2802-9721-ceacbcf85df9/54ed0cc0-4a0a-2802-9721-ceacbcf85df9']' returned non-zero exit status 2.