+ [ 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/9667d9e2-f5c4-9b14-2ad5-fa61699e61bc
2026-06-22T02:39:55 - INFO: MSIP3D 0.2.7
2026-06-22T02:39:55 - INFO: P3D files will be output to /working/9667d9e2-f5c4-9b14-2ad5-fa61699e61bc/9667d9e2-f5c4-9b14-2ad5-fa61699e61bc
2026-06-22T02:39:56 - INFO: Found 10 TFD dictionary entries
2026-06-22T02:39:56 - INFO: Found TFD mission for DSSIN075-DSSIN071
2026-06-22T02:39:56 - INFO: Recording will be processed as MD
2026-06-22T02:39:56 - INFO: Copying assets JSON to output directory...
2026-06-22T02:39:56 - INFO: Preparing counter data...
2026-06-22T02:39:56 - INFO: Interpreting counter as metric
2026-06-22T02:39:56 - INFO: Preparing size track from assets JSON...
2026-06-22T02:39:56 - INFO: Preparing shape track from assets JSON...
2026-06-22T02:39:56 - INFO: Preparing material track from assets JSON...
2026-06-22T02:39:56 - INFO: Prepared counter data in 0.2336 s
2026-06-22T02:39:56 - INFO: Extracting sonar data...
TFD path: /working/9667d9e2-f5c4-9b14-2ad5-fa61699e61bc/tfd/DSSIN075-DSSIN071.tfd
TFD path: /working/9667d9e2-f5c4-9b14-2ad5-fa61699e61bc/tfd/output
Name: Index, Tag: 5291276999180902239
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: LASER, Tag: 4855215978501720652
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079240663880375
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855215978501720643
Getting track SONAR
Number of frames: 10339
22 / 10339 [>__________________________________________________________________________] 0.21% ? p/s46 / 10339 [>__________________________________________________________________________] 0.44% ? p/s68 / 10339 [>__________________________________________________________________________] 0.66% ? p/s92 / 10339 [>________________________________________________________________________] 0.89% 117 p/s115 / 10339 [>_______________________________________________________________________] 1.11% 117 p/s136 / 10339 [>_______________________________________________________________________] 1.32% 117 p/s160 / 10339 [->______________________________________________________________________] 1.55% 116 p/s184 / 10339 [->______________________________________________________________________] 1.78% 116 p/s207 / 10339 [->______________________________________________________________________] 2.00% 116 p/s230 / 10339 [->______________________________________________________________________] 2.22% 116 p/s253 / 10339 [->______________________________________________________________________] 2.45% 116 p/s277 / 10339 [->______________________________________________________________________] 2.68% 116 p/s300 / 10339 [-->_____________________________________________________________________] 2.90% 116 p/s323 / 10339 [-->_____________________________________________________________________] 3.12% 116 p/s347 / 10339 [-->_____________________________________________________________________] 3.36% 116 p/s371 / 10339 [-->_____________________________________________________________________] 3.59% 117 p/s394 / 10339 [-->_____________________________________________________________________] 3.81% 117 p/s417 / 10339 [-->_____________________________________________________________________] 4.03% 117 p/s441 / 10339 [--->____________________________________________________________________] 4.27% 117 p/s464 / 10339 [--->____________________________________________________________________] 4.49% 117 p/s487 / 10339 [--->____________________________________________________________________] 4.71% 117 p/s509 / 10339 [--->____________________________________________________________________] 4.92% 116 p/s532 / 10339 [--->____________________________________________________________________] 5.15% 116 p/s555 / 10339 [--->____________________________________________________________________] 5.37% 116 p/s579 / 10339 [---->___________________________________________________________________] 5.60% 116 p/s602 / 10339 [---->___________________________________________________________________] 5.82% 116 p/s625 / 10339 [---->___________________________________________________________________] 6.05% 116 p/s648 / 10339 [---->___________________________________________________________________] 6.27% 116 p/s672 / 10339 [---->___________________________________________________________________] 6.50% 116 p/s695 / 10339 [---->___________________________________________________________________] 6.72% 116 p/s718 / 10339 [----->__________________________________________________________________] 6.94% 116 p/s742 / 10339 [----->__________________________________________________________________] 7.18% 116 p/s765 / 10339 [----->__________________________________________________________________] 7.40% 116 p/s789 / 10339 [----->__________________________________________________________________] 7.63% 116 p/s812 / 10339 [----->__________________________________________________________________] 7.85% 116 p/s835 / 10339 [----->__________________________________________________________________] 8.08% 116 p/s858 / 10339 [----->__________________________________________________________________] 8.30% 116 p/s881 / 10339 [------>_________________________________________________________________] 8.52% 116 p/s904 / 10339 [------>_________________________________________________________________] 8.74% 116 p/s928 / 10339 [------>_________________________________________________________________] 8.98% 116 p/s951 / 10339 [------>_________________________________________________________________] 9.20% 116 p/s973 / 10339 [------>_________________________________________________________________] 9.41% 116 p/s995 / 10339 [------>_________________________________________________________________] 9.62% 116 p/s1017 / 10339 [------>________________________________________________________________] 9.84% 116 p/s1040 / 10339 [------->______________________________________________________________] 10.06% 116 p/s1063 / 10339 [------->______________________________________________________________] 10.28% 116 p/s1087 / 10339 [------->______________________________________________________________] 10.51% 116 p/s1110 / 10339 [------->______________________________________________________________] 10.74% 116 p/s1133 / 10339 [------->______________________________________________________________] 10.96% 116 p/s1156 / 10339 [------->______________________________________________________________] 11.18% 116 p/s1180 / 10339 [------->______________________________________________________________] 11.41% 116 p/s1203 / 10339 [-------->_____________________________________________________________] 11.64% 116 p/s1226 / 10339 [-------->_____________________________________________________________] 11.86% 116 p/s1250 / 10339 [-------->_____________________________________________________________] 12.09% 116 p/s1273 / 10339 [-------->_____________________________________________________________] 12.31% 116 p/s1297 / 10339 [-------->_____________________________________________________________] 12.54% 116 p/s1320 / 10339 [-------->_____________________________________________________________] 12.77% 116 p/s1344 / 10339 [--------->____________________________________________________________] 13.00% 116 p/s1367 / 10339 [--------->____________________________________________________________] 13.22% 116 p/s1391 / 10339 [--------->____________________________________________________________] 13.45% 116 p/s1414 / 10339 [--------->____________________________________________________________] 13.68% 116 p/s1438 / 10339 [--------->____________________________________________________________] 13.91% 116 p/s1461 / 10339 [--------->____________________________________________________________] 14.13% 116 p/s1484 / 10339 [---------->___________________________________________________________] 14.35% 116 p/s1508 / 10339 [---------->___________________________________________________________] 14.59% 116 p/s1531 / 10339 [---------->___________________________________________________________] 14.81% 116 p/s1554 / 10339 [---------->___________________________________________________________] 15.03% 116 p/s1578 / 10339 [---------->___________________________________________________________] 15.26% 116 p/s1601 / 10339 [---------->___________________________________________________________] 15.49% 116 p/s1624 / 10339 [---------->___________________________________________________________] 15.71% 116 p/s1648 / 10339 [----------->__________________________________________________________] 15.94% 116 p/s1671 / 10339 [----------->__________________________________________________________] 16.16% 116 p/s1695 / 10339 [----------->__________________________________________________________] 16.39% 116 p/s1718 / 10339 [----------->__________________________________________________________] 16.62% 116 p/s1741 / 10339 [----------->__________________________________________________________] 16.84% 116 p/s1765 / 10339 [----------->__________________________________________________________] 17.07% 116 p/s1788 / 10339 [------------>_________________________________________________________] 17.29% 116 p/s1812 / 10339 [------------>_________________________________________________________] 17.53% 116 p/s1836 / 10339 [------------>_________________________________________________________] 17.76% 117 p/s1859 / 10339 [------------>_________________________________________________________] 17.98% 117 p/s1883 / 10339 [------------>_________________________________________________________] 18.21% 117 p/s1906 / 10339 [------------>_________________________________________________________] 18.44% 117 p/s1930 / 10339 [------------->________________________________________________________] 18.67% 117 p/s1953 / 10339 [------------->________________________________________________________] 18.89% 117 p/s1977 / 10339 [------------->________________________________________________________] 19.12% 117 p/s2000 / 10339 [------------->________________________________________________________] 19.34% 117 p/s2024 / 10339 [------------->________________________________________________________] 19.58% 117 p/s2046 / 10339 [------------->________________________________________________________] 19.79% 117 p/s2069 / 10339 [-------------->_______________________________________________________] 20.01% 117 p/s2092 / 10339 [-------------->_______________________________________________________] 20.23% 117 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p/s2349 / 10339 [--------------->______________________________________________________] 22.72% 117 p/s2372 / 10339 [---------------->_____________________________________________________] 22.94% 117 p/s2395 / 10339 [---------------->_____________________________________________________] 23.16% 117 p/s2418 / 10339 [---------------->_____________________________________________________] 23.39% 117 p/s2441 / 10339 [---------------->_____________________________________________________] 23.61% 117 p/s2464 / 10339 [---------------->_____________________________________________________] 23.83% 116 p/s2488 / 10339 [---------------->_____________________________________________________] 24.06% 116 p/s2511 / 10339 [----------------->____________________________________________________] 24.29% 116 p/s2534 / 10339 [----------------->____________________________________________________] 24.51% 116 p/s2558 / 10339 [----------------->____________________________________________________] 24.74% 116 p/s2581 / 10339 [----------------->____________________________________________________] 24.96% 116 p/s2605 / 10339 [----------------->____________________________________________________] 25.20% 117 p/s2628 / 10339 [----------------->____________________________________________________] 25.42% 117 p/s2652 / 10339 [----------------->____________________________________________________] 25.65% 117 p/s2675 / 10339 [------------------>___________________________________________________] 25.87% 117 p/s2698 / 10339 [------------------>___________________________________________________] 26.10% 117 p/s2722 / 10339 [------------------>___________________________________________________] 26.33% 117 p/s2745 / 10339 [------------------>___________________________________________________] 26.55% 117 p/s2768 / 10339 [------------------>___________________________________________________] 26.77% 117 p/s2792 / 10339 [------------------>___________________________________________________] 27.00% 117 p/s2815 / 10339 [------------------->__________________________________________________] 27.23% 117 p/s2839 / 10339 [------------------->__________________________________________________] 27.46% 117 p/s2862 / 10339 [------------------->__________________________________________________] 27.68% 117 p/s2885 / 10339 [------------------->__________________________________________________] 27.90% 117 p/s2907 / 10339 [------------------->__________________________________________________] 28.12% 117 p/s2930 / 10339 [------------------->__________________________________________________] 28.34% 117 p/s2953 / 10339 [------------------->__________________________________________________] 28.56% 116 p/s2977 / 10339 [-------------------->_________________________________________________] 28.79% 116 p/s3000 / 10339 [-------------------->_________________________________________________] 29.02% 116 p/s3023 / 10339 [-------------------->_________________________________________________] 29.24% 116 p/s3046 / 10339 [-------------------->_________________________________________________] 29.46% 116 p/s3070 / 10339 [-------------------->_________________________________________________] 29.69% 116 p/s3093 / 10339 [-------------------->_________________________________________________] 29.92% 116 p/s3117 / 10339 [--------------------->________________________________________________] 30.15% 116 p/s3140 / 10339 [--------------------->________________________________________________] 30.37% 116 p/s3164 / 10339 [--------------------->________________________________________________] 30.60% 117 p/s3187 / 10339 [--------------------->________________________________________________] 30.83% 117 p/s3211 / 10339 [--------------------->________________________________________________] 31.06% 117 p/s3234 / 10339 [--------------------->________________________________________________] 31.28% 117 p/s3257 / 10339 [---------------------->_______________________________________________] 31.50% 117 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p/s3744 / 10339 [------------------------->____________________________________________] 36.21% 116 p/s3767 / 10339 [------------------------->____________________________________________] 36.43% 116 p/s3791 / 10339 [------------------------->____________________________________________] 36.67% 116 p/s3814 / 10339 [------------------------->____________________________________________] 36.89% 116 p/s3837 / 10339 [------------------------->____________________________________________] 37.11% 116 p/s3860 / 10339 [-------------------------->___________________________________________] 37.33% 116 p/s3883 / 10339 [-------------------------->___________________________________________] 37.56% 116 p/s3907 / 10339 [-------------------------->___________________________________________] 37.79% 116 p/s3930 / 10339 [-------------------------->___________________________________________] 38.01% 116 p/s3954 / 10339 [-------------------------->___________________________________________] 38.24% 116 p/s3977 / 10339 [-------------------------->___________________________________________] 38.47% 116 p/s4000 / 10339 [--------------------------->__________________________________________] 38.69% 116 p/s4023 / 10339 [--------------------------->__________________________________________] 38.91% 116 p/s4047 / 10339 [--------------------------->__________________________________________] 39.14% 116 p/s4070 / 10339 [--------------------------->__________________________________________] 39.37% 116 p/s4092 / 10339 [--------------------------->__________________________________________] 39.58% 116 p/s4116 / 10339 [--------------------------->__________________________________________] 39.81% 116 p/s4139 / 10339 [---------------------------->_________________________________________] 40.03% 116 p/s4162 / 10339 [---------------------------->_________________________________________] 40.26% 116 p/s4184 / 10339 [---------------------------->_________________________________________] 40.47% 116 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p/s5128 / 10339 [---------------------------------->___________________________________] 49.60% 116 p/s5151 / 10339 [---------------------------------->___________________________________] 49.82% 116 p/s5175 / 10339 [----------------------------------->__________________________________] 50.05% 116 p/s5197 / 10339 [----------------------------------->__________________________________] 50.27% 116 p/s5220 / 10339 [----------------------------------->__________________________________] 50.49% 116 p/s5244 / 10339 [----------------------------------->__________________________________] 50.72% 116 p/s5267 / 10339 [----------------------------------->__________________________________] 50.94% 116 p/s5290 / 10339 [----------------------------------->__________________________________] 51.17% 116 p/s5313 / 10339 [----------------------------------->__________________________________] 51.39% 116 p/s5337 / 10339 [------------------------------------>_________________________________] 51.62% 116 p/s5360 / 10339 [------------------------------------>_________________________________] 51.84% 116 p/s5382 / 10339 [------------------------------------>_________________________________] 52.06% 115 p/s5405 / 10339 [------------------------------------>_________________________________] 52.28% 115 p/s5428 / 10339 [------------------------------------>_________________________________] 52.50% 115 p/s5451 / 10339 [------------------------------------>_________________________________] 52.72% 115 p/s5475 / 10339 [------------------------------------->________________________________] 52.95% 115 p/s5498 / 10339 [------------------------------------->________________________________] 53.18% 115 p/s5521 / 10339 [------------------------------------->________________________________] 53.40% 116 p/s5544 / 10339 [------------------------------------->________________________________] 53.62% 116 p/s5567 / 10339 [------------------------------------->________________________________] 53.84% 116 p/s5590 / 10339 [------------------------------------->________________________________] 54.07% 115 p/s5613 / 10339 [-------------------------------------->_______________________________] 54.29% 115 p/s5637 / 10339 [-------------------------------------->_______________________________] 54.52% 115 p/s5660 / 10339 [-------------------------------------->_______________________________] 54.74% 116 p/s5681 / 10339 [-------------------------------------->_______________________________] 54.95% 116 p/s5705 / 10339 [-------------------------------------->_______________________________] 55.18% 116 p/s5728 / 10339 [-------------------------------------->_______________________________] 55.40% 115 p/s5751 / 10339 [-------------------------------------->_______________________________] 55.62% 115 p/s5774 / 10339 [--------------------------------------->______________________________] 55.85% 115 p/s5797 / 10339 [--------------------------------------->______________________________] 56.07% 115 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p/s8119 / 10339 [------------------------------------------------------>_______________] 78.53% 115 p/s8142 / 10339 [------------------------------------------------------->______________] 78.75% 115 p/s8166 / 10339 [------------------------------------------------------->______________] 78.98% 115 p/s8187 / 10339 [------------------------------------------------------->______________] 79.19% 115 p/s8209 / 10339 [------------------------------------------------------->______________] 79.40% 115 p/s8232 / 10339 [------------------------------------------------------->______________] 79.62% 115 p/s8256 / 10339 [------------------------------------------------------->______________] 79.85% 115 p/s8279 / 10339 [-------------------------------------------------------->_____________] 80.08% 115 p/s8302 / 10339 [-------------------------------------------------------->_____________] 80.30% 115 p/s8325 / 10339 [-------------------------------------------------------->_____________] 80.52% 115 p/s8348 / 10339 [-------------------------------------------------------->_____________] 80.74% 115 p/s8371 / 10339 [-------------------------------------------------------->_____________] 80.97% 115 p/s8394 / 10339 [-------------------------------------------------------->_____________] 81.19% 115 p/s8418 / 10339 [-------------------------------------------------------->_____________] 81.42% 115 p/s8441 / 10339 [--------------------------------------------------------->____________] 81.64% 115 p/s8464 / 10339 [--------------------------------------------------------->____________] 81.86% 115 p/s8487 / 10339 [--------------------------------------------------------->____________] 82.09% 115 p/s8511 / 10339 [--------------------------------------------------------->____________] 82.32% 115 p/s8534 / 10339 [--------------------------------------------------------->____________] 82.54% 115 p/s8557 / 10339 [--------------------------------------------------------->____________] 82.76% 115 p/s8580 / 10339 [---------------------------------------------------------->___________] 82.99% 115 p/s8603 / 10339 [---------------------------------------------------------->___________] 83.21% 115 p/s8626 / 10339 [---------------------------------------------------------->___________] 83.43% 115 p/s8648 / 10339 [---------------------------------------------------------->___________] 83.64% 115 p/s8671 / 10339 [---------------------------------------------------------->___________] 83.87% 115 p/s8694 / 10339 [---------------------------------------------------------->___________] 84.09% 115 p/s8717 / 10339 [----------------------------------------------------------->__________] 84.31% 115 p/s8740 / 10339 [----------------------------------------------------------->__________] 84.53% 115 p/s8763 / 10339 [----------------------------------------------------------->__________] 84.76% 115 p/s8786 / 10339 [----------------------------------------------------------->__________] 84.98% 115 p/s8809 / 10339 [----------------------------------------------------------->__________] 85.20% 115 p/s8832 / 10339 [----------------------------------------------------------->__________] 85.42% 115 p/s8854 / 10339 [----------------------------------------------------------->__________] 85.64% 115 p/s8873 / 10339 [------------------------------------------------------------>_________] 85.82% 115 p/s8896 / 10339 [------------------------------------------------------------>_________] 86.04% 115 p/s8919 / 10339 [------------------------------------------------------------>_________] 86.27% 115 p/s8942 / 10339 [------------------------------------------------------------>_________] 86.49% 115 p/s8966 / 10339 [------------------------------------------------------------>_________] 86.72% 115 p/s8989 / 10339 [------------------------------------------------------------>_________] 86.94% 115 p/s9012 / 10339 [------------------------------------------------------------->________] 87.17% 115 p/s9035 / 10339 [------------------------------------------------------------->________] 87.39% 115 p/s9058 / 10339 [------------------------------------------------------------->________] 87.61% 115 p/s9081 / 10339 [------------------------------------------------------------->________] 87.83% 115 p/s9104 / 10339 [------------------------------------------------------------->________] 88.05% 115 p/s9126 / 10339 [------------------------------------------------------------->________] 88.27% 115 p/s9146 / 10339 [------------------------------------------------------------->________] 88.46% 115 p/s9166 / 10339 [-------------------------------------------------------------->_______] 88.65% 114 p/s9188 / 10339 [-------------------------------------------------------------->_______] 88.87% 114 p/s9210 / 10339 [-------------------------------------------------------------->_______] 89.08% 114 p/s9233 / 10339 [-------------------------------------------------------------->_______] 89.30% 114 p/s9256 / 10339 [-------------------------------------------------------------->_______] 89.53% 114 p/s9279 / 10339 [-------------------------------------------------------------->_______] 89.75% 114 p/s9302 / 10339 [-------------------------------------------------------------->_______] 89.97% 114 p/s9325 / 10339 [--------------------------------------------------------------->______] 90.19% 114 p/s9348 / 10339 [--------------------------------------------------------------->______] 90.41% 114 p/s9371 / 10339 [--------------------------------------------------------------->______] 90.64% 114 p/s9394 / 10339 [--------------------------------------------------------------->______] 90.86% 114 p/s9417 / 10339 [--------------------------------------------------------------->______] 91.08% 114 p/s9440 / 10339 [--------------------------------------------------------------->______] 91.30% 114 p/s9463 / 10339 [---------------------------------------------------------------->_____] 91.53% 114 p/s9486 / 10339 [---------------------------------------------------------------->_____] 91.75% 114 p/s9508 / 10339 [---------------------------------------------------------------->_____] 91.96% 114 p/s9532 / 10339 [---------------------------------------------------------------->_____] 92.19% 114 p/s9555 / 10339 [---------------------------------------------------------------->_____] 92.42% 114 p/s9577 / 10339 [---------------------------------------------------------------->_____] 92.63% 114 p/s9600 / 10339 [---------------------------------------------------------------->_____] 92.85% 114 p/s9623 / 10339 [----------------------------------------------------------------->____] 93.07% 114 p/s9646 / 10339 [----------------------------------------------------------------->____] 93.30% 114 p/s9669 / 10339 [----------------------------------------------------------------->____] 93.52% 114 p/s9692 / 10339 [----------------------------------------------------------------->____] 93.74% 114 p/s9715 / 10339 [----------------------------------------------------------------->____] 93.96% 114 p/s9737 / 10339 [----------------------------------------------------------------->____] 94.18% 114 p/s9760 / 10339 [------------------------------------------------------------------>___] 94.40% 114 p/s9784 / 10339 [------------------------------------------------------------------>___] 94.63% 114 p/s9807 / 10339 [------------------------------------------------------------------>___] 94.85% 114 p/s9830 / 10339 [------------------------------------------------------------------>___] 95.08% 114 p/s9852 / 10339 [------------------------------------------------------------------>___] 95.29% 114 p/s9876 / 10339 [------------------------------------------------------------------>___] 95.52% 114 p/s9899 / 10339 [------------------------------------------------------------------->__] 95.74% 114 p/s9922 / 10339 [------------------------------------------------------------------->__] 95.97% 114 p/s9944 / 10339 [------------------------------------------------------------------->__] 96.18% 114 p/s9966 / 10339 [------------------------------------------------------------------->__] 96.39% 114 p/s9989 / 10339 [------------------------------------------------------------------->__] 96.61% 114 p/s10012 / 10339 [------------------------------------------------------------------>__] 96.84% 114 p/s10035 / 10339 [------------------------------------------------------------------>__] 97.06% 114 p/s10058 / 10339 [------------------------------------------------------------------->_] 97.28% 114 p/s10081 / 10339 [------------------------------------------------------------------->_] 97.50% 114 p/s10104 / 10339 [------------------------------------------------------------------->_] 97.73% 114 p/s10127 / 10339 [------------------------------------------------------------------->_] 97.95% 114 p/s10150 / 10339 [------------------------------------------------------------------->_] 98.17% 114 p/s10170 / 10339 [------------------------------------------------------------------->_] 98.37% 114 p/s10193 / 10339 [-------------------------------------------------------------------->] 98.59% 114 p/s10216 / 10339 [-------------------------------------------------------------------->] 98.81% 114 p/s10239 / 10339 [-------------------------------------------------------------------->] 99.03% 114 p/s10263 / 10339 [-------------------------------------------------------------------->] 99.26% 114 p/s10286 / 10339 [-------------------------------------------------------------------->] 99.49% 114 p/s10307 / 10339 [-------------------------------------------------------------------->] 99.69% 114 p/s10328 / 10339 [-------------------------------------------------------------------->] 99.89% 114 p/s10339 / 10339 [--------------------------------------------------------------------] 100.00% 116 p/s2026-06-22T02:41:26 - INFO: Parsing 10339 sonar sweeps from /working/9667d9e2-f5c4-9b14-2ad5-fa61699e61bc/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/10339 [00:00<?, ?it/s]
  0%|          | 3/10339 [00:00<06:16, 27.45it/s]
  0%|          | 6/10339 [00:00<06:12, 27.77it/s]
  0%|          | 9/10339 [00:00<06:10, 27.91it/s]
  0%|          | 12/10339 [00:00<06:08, 28.00it/s]
  0%|          | 15/10339 [00:00<06:07, 28.10it/s]
  0%|          | 18/10339 [00:00<06:07, 28.10it/s]
  0%|          | 21/10339 [00:00<06:07, 28.11it/s]
  0%|          | 24/10339 [00:00<06:07, 28.09it/s]
  0%|          | 27/10339 [00:00<06:07, 28.09it/s]
  0%|          | 30/10339 [00:01<06:07, 28.09it/s]
  0%|          | 33/10339 [00:01<06:06, 28.09it/s]
  0%|          | 36/10339 [00:01<06:07, 28.04it/s]
  0%|          | 39/10339 [00:01<06:07, 28.04it/s]
  0%|          | 42/10339 [00:01<06:06, 28.06it/s]
  0%|          | 45/10339 [00:01<06:06, 28.08it/s]
  0%|          | 48/10339 [00:01<06:14, 27.46it/s]
  0%|          | 51/10339 [00:01<06:12, 27.63it/s]
  1%|          | 54/10339 [00:01<06:10, 27.79it/s]
  1%|          | 57/10339 [00:02<06:08, 27.88it/s]
  1%|          | 60/10339 [00:02<06:08, 27.91it/s]
  1%|          | 63/10339 [00:02<06:07, 27.98it/s]
  1%|          | 66/10339 [00:02<06:06, 28.02it/s]
  1%|          | 69/10339 [00:02<06:06, 28.04it/s]
  1%|          | 72/10339 [00:02<06:05, 28.05it/s]
  1%|          | 75/10339 [00:02<06:06, 28.00it/s]
  1%|          | 78/10339 [00:02<06:06, 28.01it/s]
  1%|          | 81/10339 [00:02<06:06, 28.01it/s]
  1%|          | 84/10339 [00:03<06:06, 28.00it/s]
  1%|          | 87/10339 [00:03<06:05, 28.03it/s]
  1%|          | 90/10339 [00:03<06:05, 28.02it/s]
  1%|          | 93/10339 [00:03<06:05, 28.05it/s]
  1%|          | 96/10339 [00:03<06:05, 28.02it/s]
  1%|          | 99/10339 [00:03<06:05, 28.04it/s]
  1%|          | 102/10339 [00:03<06:05, 28.04it/s]
  1%|          | 105/10339 [00:03<06:04, 28.06it/s]
  1%|          | 108/10339 [00:03<06:04, 28.06it/s]
  1%|          | 111/10339 [00:03<06:04, 28.05it/s]
  1%|          | 114/10339 [00:04<06:04, 28.04it/s]
  1%|          | 117/10339 [00:04<06:09, 27.70it/s]
  1%|          | 120/10339 [00:04<06:11, 27.50it/s]
  1%|          | 123/10339 [00:04<06:12, 27.39it/s]
  1%|          | 126/10339 [00:04<06:12, 27.40it/s]
  1%|          | 129/10339 [00:04<06:14, 27.28it/s]
  1%|▏         | 132/10339 [00:04<06:14, 27.28it/s]
  1%|▏         | 135/10339 [00:04<06:14, 27.24it/s]
  1%|▏         | 138/10339 [00:04<06:14, 27.24it/s]
  1%|▏         | 141/10339 [00:05<06:12, 27.38it/s]
  1%|▏         | 144/10339 [00:05<06:09, 27.62it/s]
  1%|▏         | 147/10339 [00:05<06:06, 27.78it/s]
  1%|▏         | 150/10339 [00:05<06:05, 27.90it/s]
  1%|▏         | 153/10339 [00:05<06:04, 27.98it/s]
  2%|▏         | 156/10339 [00:05<06:03, 28.01it/s]
  2%|▏         | 159/10339 [00:05<06:03, 28.03it/s]
  2%|▏         | 162/10339 [00:05<06:02, 28.08it/s]
  2%|▏         | 165/10339 [00:05<06:01, 28.11it/s]
  2%|▏         | 168/10339 [00:06<06:01, 28.11it/s]
  2%|▏         | 171/10339 [00:06<06:01, 28.13it/s]
  2%|▏         | 174/10339 [00:06<06:01, 28.14it/s]
  2%|▏         | 177/10339 [00:06<06:00, 28.15it/s]
  2%|▏         | 180/10339 [00:06<06:01, 28.13it/s]
  2%|▏         | 183/10339 [00:06<06:14, 27.10it/s]
  2%|▏         | 186/10339 [00:06<06:10, 27.42it/s]
  2%|▏         | 189/10339 [00:06<06:07, 27.65it/s]
  2%|▏         | 192/10339 [00:06<06:05, 27.77it/s]
  2%|▏         | 195/10339 [00:06<06:03, 27.90it/s]
  2%|▏         | 198/10339 [00:07<06:02, 27.98it/s]
  2%|▏         | 201/10339 [00:07<06:01, 28.03it/s]
  2%|▏         | 204/10339 [00:07<06:00, 28.08it/s]
  2%|▏         | 207/10339 [00:07<06:00, 28.09it/s]
  2%|▏         | 210/10339 [00:07<06:00, 28.13it/s]
  2%|▏         | 213/10339 [00:07<06:00, 28.12it/s]
  2%|▏         | 216/10339 [00:07<05:59, 28.12it/s]
  2%|▏         | 219/10339 [00:07<05:59, 28.13it/s]
  2%|▏         | 222/10339 [00:07<06:01, 28.00it/s]
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  2%|▏         | 228/10339 [00:08<05:59, 28.09it/s]
  2%|▏         | 231/10339 [00:08<05:59, 28.09it/s]
  2%|▏         | 234/10339 [00:08<05:59, 28.12it/s]
  2%|▏         | 237/10339 [00:08<05:59, 28.11it/s]
  2%|▏         | 240/10339 [00:08<05:58, 28.18it/s]
  2%|▏         | 243/10339 [00:08<05:57, 28.22it/s]
  2%|▏         | 246/10339 [00:08<05:57, 28.22it/s]
  2%|▏         | 249/10339 [00:08<05:57, 28.26it/s]
  2%|▏         | 252/10339 [00:09<05:57, 28.24it/s]
  2%|▏         | 255/10339 [00:09<05:57, 28.21it/s]
  2%|▏         | 258/10339 [00:09<05:57, 28.21it/s]
  3%|▎         | 261/10339 [00:09<05:57, 28.19it/s]
  3%|▎         | 264/10339 [00:09<05:57, 28.20it/s]
  3%|▎         | 267/10339 [00:09<05:57, 28.18it/s]
  3%|▎         | 270/10339 [00:09<05:56, 28.21it/s]
  3%|▎         | 273/10339 [00:09<05:57, 28.18it/s]
  3%|▎         | 276/10339 [00:09<05:56, 28.23it/s]
  3%|▎         | 279/10339 [00:09<05:56, 28.20it/s]
  3%|▎         | 282/10339 [00:10<05:57, 28.16it/s]
  3%|▎         | 285/10339 [00:10<05:57, 28.16it/s]
  3%|▎         | 288/10339 [00:10<05:57, 28.08it/s]
  3%|▎         | 291/10339 [00:10<05:57, 28.11it/s]
  3%|▎         | 294/10339 [00:10<05:57, 28.13it/s]
  3%|▎         | 297/10339 [00:10<05:56, 28.14it/s]
  3%|▎         | 300/10339 [00:10<05:56, 28.14it/s]
  3%|▎         | 303/10339 [00:10<05:56, 28.12it/s]
  3%|▎         | 306/10339 [00:10<05:56, 28.13it/s]
  3%|▎         | 309/10339 [00:11<05:56, 28.14it/s]
  3%|▎         | 312/10339 [00:11<05:56, 28.14it/s]
  3%|▎         | 315/10339 [00:11<06:16, 26.66it/s]
  3%|▎         | 318/10339 [00:11<06:10, 27.06it/s]
  3%|▎         | 321/10339 [00:11<06:06, 27.34it/s]
  3%|▎         | 324/10339 [00:11<06:03, 27.57it/s]
  3%|▎         | 327/10339 [00:11<06:01, 27.71it/s]
  3%|▎         | 330/10339 [00:11<05:59, 27.84it/s]
  3%|▎         | 333/10339 [00:11<05:58, 27.92it/s]
  3%|▎         | 336/10339 [00:12<05:57, 28.00it/s]
  3%|▎         | 339/10339 [00:12<05:56, 28.03it/s]
  3%|▎         | 342/10339 [00:12<05:56, 28.06it/s]
  3%|▎         | 345/10339 [00:12<05:55, 28.10it/s]
  3%|▎         | 348/10339 [00:12<05:55, 28.13it/s]
  3%|▎         | 351/10339 [00:12<05:56, 28.04it/s]
  3%|▎         | 354/10339 [00:12<05:55, 28.06it/s]
  3%|▎         | 357/10339 [00:12<05:55, 28.09it/s]
  3%|▎         | 360/10339 [00:12<05:55, 28.10it/s]
  4%|▎         | 363/10339 [00:12<05:55, 28.10it/s]
  4%|▎         | 366/10339 [00:13<05:55, 28.07it/s]
  4%|▎         | 369/10339 [00:13<05:55, 28.06it/s]
  4%|▎         | 372/10339 [00:13<05:54, 28.10it/s]
  4%|▎         | 375/10339 [00:13<05:54, 28.08it/s]
  4%|▎         | 378/10339 [00:13<05:54, 28.09it/s]
  4%|▎         | 381/10339 [00:13<05:54, 28.08it/s]
  4%|▎         | 384/10339 [00:13<05:55, 28.00it/s]
  4%|▎         | 387/10339 [00:13<05:56, 27.95it/s]
  4%|▍         | 390/10339 [00:13<05:56, 27.91it/s]
  4%|▍         | 393/10339 [00:14<05:57, 27.86it/s]
  4%|▍         | 396/10339 [00:14<05:57, 27.83it/s]
  4%|▍         | 399/10339 [00:14<05:57, 27.78it/s]
  4%|▍         | 402/10339 [00:14<05:57, 27.78it/s]
  4%|▍         | 405/10339 [00:14<05:57, 27.76it/s]
  4%|▍         | 408/10339 [00:14<05:57, 27.76it/s]
  4%|▍         | 411/10339 [00:14<05:57, 27.78it/s]
  4%|▍         | 414/10339 [00:14<05:57, 27.79it/s]
  4%|▍         | 417/10339 [00:14<05:56, 27.80it/s]
  4%|▍         | 420/10339 [00:15<05:57, 27.77it/s]
  4%|▍         | 423/10339 [00:15<05:57, 27.70it/s]
  4%|▍         | 426/10339 [00:15<05:57, 27.70it/s]
  4%|▍         | 429/10339 [00:15<05:57, 27.73it/s]
  4%|▍         | 432/10339 [00:15<05:56, 27.76it/s]
  4%|▍         | 435/10339 [00:15<05:57, 27.73it/s]
  4%|▍         | 438/10339 [00:15<05:57, 27.72it/s]
  4%|▍         | 441/10339 [00:15<05:56, 27.76it/s]
  4%|▍         | 444/10339 [00:15<05:56, 27.76it/s]
  4%|▍         | 447/10339 [00:16<06:21, 25.91it/s]
  4%|▍         | 450/10339 [00:16<06:14, 26.43it/s]
  4%|▍         | 453/10339 [00:16<06:08, 26.85it/s]
  4%|▍         | 456/10339 [00:16<06:04, 27.13it/s]
  4%|▍         | 459/10339 [00:16<06:01, 27.32it/s]
  4%|▍         | 462/10339 [00:16<05:59, 27.44it/s]
  4%|▍         | 465/10339 [00:16<05:57, 27.58it/s]
  5%|▍         | 468/10339 [00:16<05:57, 27.62it/s]
  5%|▍         | 471/10339 [00:16<05:56, 27.65it/s]
  5%|▍         | 474/10339 [00:17<05:56, 27.66it/s]
  5%|▍         | 477/10339 [00:17<05:55, 27.71it/s]
  5%|▍         | 480/10339 [00:17<05:55, 27.71it/s]
  5%|▍         | 483/10339 [00:17<05:55, 27.71it/s]
  5%|▍         | 486/10339 [00:17<05:55, 27.73it/s]
  5%|▍         | 489/10339 [00:17<05:54, 27.76it/s]
  5%|▍         | 492/10339 [00:17<05:54, 27.77it/s]
  5%|▍         | 495/10339 [00:17<05:54, 27.76it/s]
  5%|▍         | 498/10339 [00:17<05:53, 27.81it/s]
  5%|▍         | 501/10339 [00:17<05:55, 27.70it/s]
  5%|▍         | 504/10339 [00:18<05:54, 27.72it/s]
  5%|▍         | 507/10339 [00:18<05:54, 27.73it/s]
  5%|▍         | 510/10339 [00:18<05:54, 27.75it/s]
  5%|▍         | 513/10339 [00:18<05:54, 27.73it/s]
  5%|▍         | 516/10339 [00:18<05:54, 27.69it/s]
  5%|▌         | 519/10339 [00:18<05:54, 27.67it/s]
  5%|▌         | 522/10339 [00:18<05:54, 27.73it/s]
  5%|▌         | 525/10339 [00:18<05:53, 27.76it/s]
  5%|▌         | 528/10339 [00:18<05:53, 27.77it/s]
  5%|▌         | 531/10339 [00:19<05:53, 27.77it/s]
  5%|▌         | 534/10339 [00:19<05:52, 27.78it/s]
  5%|▌         | 537/10339 [00:19<05:52, 27.80it/s]
  5%|▌         | 540/10339 [00:19<05:52, 27.79it/s]
  5%|▌         | 543/10339 [00:19<05:52, 27.82it/s]
  5%|▌         | 546/10339 [00:19<05:52, 27.78it/s]
  5%|▌         | 549/10339 [00:19<05:52, 27.77it/s]
  5%|▌         | 552/10339 [00:19<05:52, 27.80it/s]
  5%|▌         | 555/10339 [00:19<05:51, 27.82it/s]
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  5%|▌         | 561/10339 [00:20<05:51, 27.83it/s]
  5%|▌         | 564/10339 [00:20<05:51, 27.79it/s]
  5%|▌         | 567/10339 [00:20<05:51, 27.77it/s]
  6%|▌         | 570/10339 [00:20<05:51, 27.78it/s]
  6%|▌         | 573/10339 [00:20<05:51, 27.77it/s]
  6%|▌         | 576/10339 [00:20<05:51, 27.77it/s]
  6%|▌         | 579/10339 [00:20<05:51, 27.75it/s]
  6%|▌         | 582/10339 [00:20<05:51, 27.79it/s]
  6%|▌         | 585/10339 [00:21<05:51, 27.78it/s]
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  6%|▌         | 591/10339 [00:21<05:51, 27.76it/s]
  6%|▌         | 594/10339 [00:21<05:50, 27.79it/s]
  6%|▌         | 597/10339 [00:21<05:50, 27.77it/s]
  6%|▌         | 600/10339 [00:21<05:50, 27.80it/s]
  6%|▌         | 603/10339 [00:21<05:50, 27.77it/s]
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  6%|▌         | 615/10339 [00:22<05:50, 27.74it/s]
  6%|▌         | 618/10339 [00:22<06:25, 25.21it/s]
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2026-06-22T02:47:46 - INFO: Running DataPrep with "python -m dataprep --force --no-counter --no-video --no-laser --sonar --sonar-format cbor --temperature 17.8 --salinity 17.8 --pressure 17.8 --sonar-cluster-size 15 --sonar-mask-angle 120 --sonar-despike --sonar-flip --sonar-distance-threshold 60 --sonar-sample-offset -1 /working/9667d9e2-f5c4-9b14-2ad5-fa61699e61bc/9667d9e2-f5c4-9b14-2ad5-fa61699e61bc"
2026-06-22T02:47:48 - INFO: DataPrep 0.14.7
2026-06-22T02:47:48 - INFO: Prepared data will be output to /working/9667d9e2-f5c4-9b14-2ad5-fa61699e61bc/9667d9e2-f5c4-9b14-2ad5-fa61699e61bc/processing/data
2026-06-22T02:47:48 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-06-22T02:47:48 - deployment - INFO: Detected P3D version: P3D_1
2026-06-22T02:47:48 - INFO: Recording GUID: 9667d9e2-f5c4-9b14-2ad5-fa61699e61bc
2026-06-22T02:47:48 - INFO: Preparing sonar data...
2026-06-22T02:47:48 - INFO: /working/9667d9e2-f5c4-9b14-2ad5-fa61699e61bc/9667d9e2-f5c4-9b14-2ad5-fa61699e61bc/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-06-22T02:47:57 - INFO: Sonar epoch is 2025-08-20 22:47:56.095679+00:00 (1755730076095678445)
2026-06-22T02:47:57 - INFO: Creating sonar sensor alignment track...
2026-06-22T02:47:57 - INFO: Using sonar rotation of -0.471239 radians for wedge mask
2026-06-22T02:47:57 - INFO: Sensor speed of sound is 1500 m/s
2026-06-22T02:47:57 - INFO: Sensor range is 0.939120 m
2026-06-22T02:47:57 - INFO: Sensor micrometres per sample is 3119.999982
2026-06-22T02:47:57 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-06-22T02:47:57 - INFO: Scaled range is 0.935669 m
2026-06-22T02:47:57 - INFO: Scaled micrometres per sample is 3108.536247
2026-06-22T02:47:57 - INFO: Processing 10339 sweeps...

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2026-06-22T02:48:35 - INFO: Prepared sonar data in 47.5706 s
2026-06-22T02:48:35 - INFO: No IMU data found
2026-06-22T02:48:37 - INFO: DataPrep took 0:00:49.083131
2026-06-22T02:48:37 - INFO: Extracted sonar data in 0:08:40.923406
2026-06-22T02:48:38 - INFO: MSIP3D took 0:08:42.132588