+ [ true = true ]
+ echo --counter
+ [ false = true ]
+ echo --no-video
+ [ false = true ]
+ echo --no-laser
+ [ true = true ]
+ echo --sonar --sonar-detection-method hessian-ridge --sonar-temporal-window 2
+ [ smd = md ]
+ python -m msip3d -v -f --write-result --result-path /working/result.json --counter --no-video --no-laser --sonar --sonar-detection-method hessian-ridge --sonar-temporal-window 2 --sonar-sample-offset -1 /working/80edf19a-3ef9-b1dd-c873-59d0a3c1d52a
2026-07-29T03:27:37 - INFO: MSIP3D 0.2.11
2026-07-29T03:27:38 - INFO: P3D files will be output to /working/80edf19a-3ef9-b1dd-c873-59d0a3c1d52a/80edf19a-3ef9-b1dd-c873-59d0a3c1d52a
2026-07-29T03:27:38 - INFO: Found 11 TFD dictionary entries
2026-07-29T03:27:38 - INFO: Found TFD mission for Meadowhead 2nd
2026-07-29T03:27:38 - INFO: Recording will be processed as SMD
2026-07-29T03:27:38 - INFO: Copying assets JSON to output directory...
2026-07-29T03:27:38 - INFO: Preparing counter data...
2026-07-29T03:27:38 - INFO: Interpreting counter as metric
2026-07-29T03:27:38 - INFO: Preparing size track from assets JSON...
2026-07-29T03:27:38 - INFO: Preparing shape track from assets JSON...
2026-07-29T03:27:38 - INFO: Preparing material track from assets JSON...
2026-07-29T03:27:38 - INFO: Prepared counter data in 0.1795 s
2026-07-29T03:27:38 - INFO: Extracting sonar data...
TFD path: /working/80edf19a-3ef9-b1dd-c873-59d0a3c1d52a/tfd/Meadowhead_2nd.tfd
TFD path: /working/80edf19a-3ef9-b1dd-c873-59d0a3c1d52a/tfd/output
Name: SONAR, Tag: 6012080310110737079
Name: Dictionary, Tag: 18446744073709551615
Name: SONAR_SENSOR_DATA, Tag: 6012080310110734931
Name: CCTV, Tag: 4855215978501720643
Name: CCTV, Tag: 4855215978501720644
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: LASER, Tag: 4855215978501720652
Name: MISSION_FILE, Tag: 5073671569755687501
Getting track SONAR
Number of frames: 4392
21 / 4392 [>___________________________________________________________________________] 0.48% ? p/s44 / 4392 [>___________________________________________________________________________] 1.00% ? p/s66 / 4392 [->__________________________________________________________________________] 1.50% ? p/s90 / 4392 [->________________________________________________________________________] 2.05% 115 p/s112 / 4392 [->_______________________________________________________________________] 2.55% 115 p/s133 / 4392 [-->______________________________________________________________________] 3.03% 115 p/s154 / 4392 [-->______________________________________________________________________] 3.51% 114 p/s173 / 4392 [-->______________________________________________________________________] 3.94% 114 p/s195 / 4392 [--->_____________________________________________________________________] 4.44% 114 p/s217 / 4392 [--->_____________________________________________________________________] 4.94% 114 p/s238 / 4392 [--->_____________________________________________________________________] 5.42% 114 p/s261 / 4392 [---->____________________________________________________________________] 5.94% 114 p/s284 / 4392 [---->____________________________________________________________________] 6.47% 114 p/s305 / 4392 [----->___________________________________________________________________] 6.94% 114 p/s328 / 4392 [----->___________________________________________________________________] 7.47% 114 p/s350 / 4392 [----->___________________________________________________________________] 7.97% 113 p/s369 / 4392 [------>__________________________________________________________________] 8.40% 113 p/s393 / 4392 [------>__________________________________________________________________] 8.95% 113 p/s416 / 4392 [------>__________________________________________________________________] 9.47% 113 p/s438 / 4392 [------->_________________________________________________________________] 9.97% 113 p/s460 / 4392 [------->________________________________________________________________] 10.47% 113 p/s481 / 4392 [------->________________________________________________________________] 10.95% 113 p/s504 / 4392 [-------->_______________________________________________________________] 11.48% 113 p/s527 / 4392 [-------->_______________________________________________________________] 12.00% 113 p/s549 / 4392 [-------->_______________________________________________________________] 12.50% 113 p/s570 / 4392 [--------->______________________________________________________________] 12.98% 113 p/s590 / 4392 [--------->______________________________________________________________] 13.43% 113 p/s612 / 4392 [---------->_____________________________________________________________] 13.93% 112 p/s633 / 4392 [---------->_____________________________________________________________] 14.41% 112 p/s654 / 4392 [---------->_____________________________________________________________] 14.89% 112 p/s676 / 4392 [----------->____________________________________________________________] 15.39% 112 p/s698 / 4392 [----------->____________________________________________________________] 15.89% 112 p/s718 / 4392 [----------->____________________________________________________________] 16.35% 112 p/s739 / 4392 [------------>___________________________________________________________] 16.83% 112 p/s762 / 4392 [------------>___________________________________________________________] 17.35% 112 p/s784 / 4392 [------------>___________________________________________________________] 17.85% 112 p/s806 / 4392 [------------->__________________________________________________________] 18.35% 112 p/s829 / 4392 [------------->__________________________________________________________] 18.88% 112 p/s851 / 4392 [------------->__________________________________________________________] 19.38% 112 p/s875 / 4392 [-------------->_________________________________________________________] 19.92% 112 p/s896 / 4392 [-------------->_________________________________________________________] 20.40% 112 p/s917 / 4392 [--------------->________________________________________________________] 20.88% 112 p/s940 / 4392 [--------------->________________________________________________________] 21.40% 112 p/s962 / 4392 [--------------->________________________________________________________] 21.90% 112 p/s984 / 4392 [---------------->_______________________________________________________] 22.40% 112 p/s1007 / 4392 [---------------->______________________________________________________] 22.93% 112 p/s1030 / 4392 [---------------->______________________________________________________] 23.45% 112 p/s1052 / 4392 [----------------->_____________________________________________________] 23.95% 112 p/s1074 / 4392 [----------------->_____________________________________________________] 24.45% 112 p/s1096 / 4392 [----------------->_____________________________________________________] 24.95% 112 p/s1118 / 4392 [------------------>____________________________________________________] 25.46% 112 p/s1140 / 4392 [------------------>____________________________________________________] 25.96% 112 p/s1162 / 4392 [------------------>____________________________________________________] 26.46% 112 p/s1183 / 4392 [------------------->___________________________________________________] 26.94% 112 p/s1204 / 4392 [------------------->___________________________________________________] 27.41% 111 p/s1225 / 4392 [------------------->___________________________________________________] 27.89% 111 p/s1248 / 4392 [-------------------->__________________________________________________] 28.42% 111 p/s1269 / 4392 [-------------------->__________________________________________________] 28.89% 111 p/s1292 / 4392 [-------------------->__________________________________________________] 29.42% 111 p/s1315 / 4392 [--------------------->_________________________________________________] 29.94% 111 p/s1337 / 4392 [--------------------->_________________________________________________] 30.44% 111 p/s1358 / 4392 [--------------------->_________________________________________________] 30.92% 111 p/s1379 / 4392 [---------------------->________________________________________________] 31.40% 111 p/s1399 / 4392 [---------------------->________________________________________________] 31.85% 111 p/s1420 / 4392 [---------------------->________________________________________________] 32.33% 111 p/s1444 / 4392 [----------------------->_______________________________________________] 32.88% 111 p/s1465 / 4392 [----------------------->_______________________________________________] 33.36% 111 p/s1486 / 4392 [------------------------>______________________________________________] 33.83% 111 p/s1508 / 4392 [------------------------>______________________________________________] 34.34% 111 p/s1530 / 4392 [------------------------>______________________________________________] 34.84% 110 p/s1553 / 4392 [------------------------->_____________________________________________] 35.36% 110 p/s1575 / 4392 [------------------------->_____________________________________________] 35.86% 110 p/s1597 / 4392 [------------------------->_____________________________________________] 36.36% 111 p/s1618 / 4392 [-------------------------->____________________________________________] 36.84% 111 p/s1641 / 4392 [-------------------------->____________________________________________] 37.36% 111 p/s1661 / 4392 [-------------------------->____________________________________________] 37.82% 110 p/s1684 / 4392 [--------------------------->___________________________________________] 38.34% 110 p/s1705 / 4392 [--------------------------->___________________________________________] 38.82% 110 p/s1727 / 4392 [--------------------------->___________________________________________] 39.32% 110 p/s1750 / 4392 [---------------------------->__________________________________________] 39.85% 110 p/s1773 / 4392 [---------------------------->__________________________________________] 40.37% 110 p/s1795 / 4392 [----------------------------->_________________________________________] 40.87% 110 p/s1817 / 4392 [----------------------------->_________________________________________] 41.37% 110 p/s1840 / 4392 [----------------------------->_________________________________________] 41.89% 110 p/s1863 / 4392 [------------------------------>________________________________________] 42.42% 111 p/s1885 / 4392 [------------------------------>________________________________________] 42.92% 111 p/s1908 / 4392 [------------------------------>________________________________________] 43.44% 111 p/s1931 / 4392 [------------------------------->_______________________________________] 43.97% 111 p/s1954 / 4392 [------------------------------->_______________________________________] 44.49% 111 p/s1976 / 4392 [------------------------------->_______________________________________] 44.99% 111 p/s2000 / 4392 [-------------------------------->______________________________________] 45.54% 111 p/s2022 / 4392 [-------------------------------->______________________________________] 46.04% 111 p/s2045 / 4392 [--------------------------------->_____________________________________] 46.56% 111 p/s2068 / 4392 [--------------------------------->_____________________________________] 47.09% 111 p/s2088 / 4392 [--------------------------------->_____________________________________] 47.54% 111 p/s2109 / 4392 [---------------------------------->____________________________________] 48.02% 111 p/s2131 / 4392 [---------------------------------->____________________________________] 48.52% 111 p/s2152 / 4392 [---------------------------------->____________________________________] 49.00% 111 p/s2174 / 4392 [----------------------------------->___________________________________] 49.50% 111 p/s2197 / 4392 [----------------------------------->___________________________________] 50.02% 111 p/s2219 / 4392 [----------------------------------->___________________________________] 50.52% 111 p/s2242 / 4392 [------------------------------------>__________________________________] 51.05% 111 p/s2264 / 4392 [------------------------------------>__________________________________] 51.55% 111 p/s2287 / 4392 [------------------------------------>__________________________________] 52.07% 111 p/s2310 / 4392 [------------------------------------->_________________________________] 52.60% 111 p/s2331 / 4392 [------------------------------------->_________________________________] 53.07% 111 p/s2353 / 4392 [-------------------------------------->________________________________] 53.57% 111 p/s2376 / 4392 [-------------------------------------->________________________________] 54.10% 111 p/s2397 / 4392 [-------------------------------------->________________________________] 54.58% 111 p/s2419 / 4392 [--------------------------------------->_______________________________] 55.08% 111 p/s2441 / 4392 [--------------------------------------->_______________________________] 55.58% 111 p/s2462 / 4392 [--------------------------------------->_______________________________] 56.06% 111 p/s2485 / 4392 [---------------------------------------->______________________________] 56.58% 111 p/s2506 / 4392 [---------------------------------------->______________________________] 57.06% 111 p/s2529 / 4392 [---------------------------------------->______________________________] 57.58% 111 p/s2552 / 4392 [----------------------------------------->_____________________________] 58.11% 111 p/s2574 / 4392 [----------------------------------------->_____________________________] 58.61% 111 p/s2596 / 4392 [----------------------------------------->_____________________________] 59.11% 111 p/s2618 / 4392 [------------------------------------------>____________________________] 59.61% 111 p/s2640 / 4392 [------------------------------------------>____________________________] 60.11% 111 p/s2664 / 4392 [------------------------------------------->___________________________] 60.66% 111 p/s2686 / 4392 [------------------------------------------->___________________________] 61.16% 111 p/s2709 / 4392 [------------------------------------------->___________________________] 61.68% 111 p/s2730 / 4392 [-------------------------------------------->__________________________] 62.16% 111 p/s2752 / 4392 [-------------------------------------------->__________________________] 62.66% 111 p/s2775 / 4392 [-------------------------------------------->__________________________] 63.18% 111 p/s2798 / 4392 [--------------------------------------------->_________________________] 63.71% 111 p/s2821 / 4392 [--------------------------------------------->_________________________] 64.23% 111 p/s2844 / 4392 [--------------------------------------------->_________________________] 64.75% 111 p/s2865 / 4392 [---------------------------------------------->________________________] 65.23% 111 p/s2887 / 4392 [---------------------------------------------->________________________] 65.73% 111 p/s2910 / 4392 [----------------------------------------------->_______________________] 66.26% 111 p/s2932 / 4392 [----------------------------------------------->_______________________] 66.76% 111 p/s2954 / 4392 [----------------------------------------------->_______________________] 67.26% 111 p/s2976 / 4392 [------------------------------------------------>______________________] 67.76% 111 p/s2998 / 4392 [------------------------------------------------>______________________] 68.26% 111 p/s3021 / 4392 [------------------------------------------------>______________________] 68.78% 111 p/s3044 / 4392 [------------------------------------------------->_____________________] 69.31% 111 p/s3067 / 4392 [------------------------------------------------->_____________________] 69.83% 111 p/s3090 / 4392 [------------------------------------------------->_____________________] 70.36% 111 p/s3113 / 4392 [-------------------------------------------------->____________________] 70.88% 111 p/s3133 / 4392 [-------------------------------------------------->____________________] 71.33% 111 p/s3155 / 4392 [--------------------------------------------------->___________________] 71.84% 111 p/s3179 / 4392 [--------------------------------------------------->___________________] 72.38% 111 p/s3201 / 4392 [--------------------------------------------------->___________________] 72.88% 111 p/s3223 / 4392 [---------------------------------------------------->__________________] 73.38% 111 p/s3245 / 4392 [---------------------------------------------------->__________________] 73.88% 111 p/s3267 / 4392 [---------------------------------------------------->__________________] 74.39% 111 p/s3289 / 4392 [----------------------------------------------------->_________________] 74.89% 111 p/s3311 / 4392 [----------------------------------------------------->_________________] 75.39% 111 p/s3334 / 4392 [----------------------------------------------------->_________________] 75.91% 111 p/s3357 / 4392 [------------------------------------------------------>________________] 76.43% 111 p/s3380 / 4392 [------------------------------------------------------>________________] 76.96% 111 p/s3402 / 4392 [------------------------------------------------------>________________] 77.46% 111 p/s3425 / 4392 [------------------------------------------------------->_______________] 77.98% 111 p/s3447 / 4392 [------------------------------------------------------->_______________] 78.48% 111 p/s3470 / 4392 [-------------------------------------------------------->______________] 79.01% 112 p/s3492 / 4392 [-------------------------------------------------------->______________] 79.51% 112 p/s3514 / 4392 [-------------------------------------------------------->______________] 80.01% 112 p/s3537 / 4392 [--------------------------------------------------------->_____________] 80.53% 112 p/s3561 / 4392 [--------------------------------------------------------->_____________] 81.08% 112 p/s3584 / 4392 [--------------------------------------------------------->_____________] 81.60% 112 p/s3607 / 4392 [---------------------------------------------------------->____________] 82.13% 112 p/s3628 / 4392 [---------------------------------------------------------->____________] 82.60% 112 p/s3651 / 4392 [----------------------------------------------------------->___________] 83.13% 112 p/s3674 / 4392 [----------------------------------------------------------->___________] 83.65% 112 p/s3695 / 4392 [----------------------------------------------------------->___________] 84.13% 112 p/s3717 / 4392 [------------------------------------------------------------>__________] 84.63% 112 p/s3740 / 4392 [------------------------------------------------------------>__________] 85.15% 112 p/s3762 / 4392 [------------------------------------------------------------>__________] 85.66% 112 p/s3784 / 4392 [------------------------------------------------------------->_________] 86.16% 112 p/s3807 / 4392 [------------------------------------------------------------->_________] 86.68% 112 p/s3829 / 4392 [------------------------------------------------------------->_________] 87.18% 112 p/s3849 / 4392 [-------------------------------------------------------------->________] 87.64% 112 p/s3870 / 4392 [-------------------------------------------------------------->________] 88.11% 111 p/s3893 / 4392 [-------------------------------------------------------------->________] 88.64% 111 p/s3914 / 4392 [--------------------------------------------------------------->_______] 89.12% 111 p/s3937 / 4392 [--------------------------------------------------------------->_______] 89.64% 111 p/s3960 / 4392 [---------------------------------------------------------------->______] 90.16% 111 p/s3983 / 4392 [---------------------------------------------------------------->______] 90.69% 111 p/s4005 / 4392 [---------------------------------------------------------------->______] 91.19% 111 p/s4028 / 4392 [----------------------------------------------------------------->_____] 91.71% 111 p/s4051 / 4392 [----------------------------------------------------------------->_____] 92.24% 111 p/s4074 / 4392 [----------------------------------------------------------------->_____] 92.76% 112 p/s4095 / 4392 [------------------------------------------------------------------>____] 93.24% 112 p/s4119 / 4392 [------------------------------------------------------------------>____] 93.78% 112 p/s4141 / 4392 [------------------------------------------------------------------>____] 94.29% 112 p/s4164 / 4392 [------------------------------------------------------------------->___] 94.81% 112 p/s4186 / 4392 [------------------------------------------------------------------->___] 95.31% 112 p/s4207 / 4392 [-------------------------------------------------------------------->__] 95.79% 112 p/s4230 / 4392 [-------------------------------------------------------------------->__] 96.31% 112 p/s4252 / 4392 [-------------------------------------------------------------------->__] 96.81% 112 p/s4274 / 4392 [--------------------------------------------------------------------->_] 97.31% 112 p/s4297 / 4392 [--------------------------------------------------------------------->_] 97.84% 112 p/s4320 / 4392 [--------------------------------------------------------------------->_] 98.36% 112 p/s4342 / 4392 [---------------------------------------------------------------------->] 98.86% 112 p/s4364 / 4392 [---------------------------------------------------------------------->] 99.36% 112 p/s4387 / 4392 [---------------------------------------------------------------------->] 99.89% 112 p/s4392 / 4392 [----------------------------------------------------------------------] 100.00% 111 p/s2026-07-29T03:28:18 - INFO: Parsing 4392 sonar sweeps from /working/80edf19a-3ef9-b1dd-c873-59d0a3c1d52a/tfd/output/SONAR/all-sweeps-info.csv...

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2026-07-29T03:30:57 - INFO: Writing sonar_raw.track.cbor
2026-07-29T03:31:59 - INFO: Running DataPrep with "python -m dataprep --force --no-counter --no-video --no-laser --sonar --no-sonar-raw --sonar-format cbor --sonar-ptd-format binary --temperature 17.8 --salinity 17.8 --pressure 17.8 --sonar-mask-angle 120 --sonar-temporal-window 2 --sonar-distance-threshold 60 --sonar-sample-offset -1 --sonar-near-field-ratio 0.1 --sonar-threshold-sigma 2.0 --sonar-min-threshold 8.0 --sonar-edge-candidate-count 8 --sonar-edge-window-samples 5 --sonar-edge-min-gradient 6.0 --sonar-edge-min-intensity 8.0 --sonar-edge-jump-penalty 1.8 --sonar-edge-missing-beam-penalty 8.0 --sonar-edge-max-beam-gap 24 --sonar-edge-max-sample-jump 15 --sonar-edge-max-total-sample-jump 60 --sonar-edge-path-count 6 --sonar-edge-path-suppression-samples 24 --sonar-edge-path-range-weight 5.0 --sonar-edge-path-smoothness-penalty 4.0 --sonar-edge-path-max-beam-span-ratio 0.6 --sonar-edge-outer-envelope-beam-radius 4 --sonar-edge-outer-envelope-margin-samples 18 --sonar-edge-outer-envelope-penalty 6.0 --sonar-component-max-count 4 --sonar-component-edge-min-points 8 --sonar-component-edge-threshold-ratio 0.45 --sonar-component-edge-min-intensity 8.0 --sonar-component-close-beams 5 --sonar-component-close-samples 3 --sonar-component-min-area 24 --sonar-component-min-density 0.18 --sonar-component-min-beam-span 8 --sonar-component-min-edge-coverage 0.35 --sonar-component-score-ratio 0.25 --sonar-break-gap-beams 8 --sonar-break-gap-samples 40 --sonar-despike-sample-threshold 45 --sonar-despike-neighbor-threshold 20 --sonar-despike-max-beam-gap 3 --sonar-min-segment-points 8 --sonar-smooth-window 5 --sonar-smooth-passes 1 --sonar-despike --no-sonar-row-weighting --sonar-edge-path --sonar-detection-method hessian-ridge /working/80edf19a-3ef9-b1dd-c873-59d0a3c1d52a/80edf19a-3ef9-b1dd-c873-59d0a3c1d52a"
2026-07-29T03:31:59 - INFO: DataPrep 0.15.2a2
2026-07-29T03:31:59 - INFO: Prepared data will be output to /working/80edf19a-3ef9-b1dd-c873-59d0a3c1d52a/80edf19a-3ef9-b1dd-c873-59d0a3c1d52a/processing/data
2026-07-29T03:31:59 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-29T03:31:59 - deployment - INFO: Detected P3D version: P3D_1
2026-07-29T03:31:59 - INFO: Recording GUID: 80edf19a-3ef9-b1dd-c873-59d0a3c1d52a
2026-07-29T03:31:59 - INFO: Preparing sonar data...
2026-07-29T03:31:59 - INFO: /working/80edf19a-3ef9-b1dd-c873-59d0a3c1d52a/80edf19a-3ef9-b1dd-c873-59d0a3c1d52a/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-29T03:32:03 - INFO: Sonar epoch is 2026-05-05 13:44:40.122678+00:00 (1777988680122678240)
2026-07-29T03:32:03 - INFO: Creating sonar sensor alignment track...
2026-07-29T03:32:03 - INFO: Using sonar rotation of 0.069813 radians for wedge mask
2026-07-29T03:32:03 - INFO: Using sonar digitizer
2026-07-29T03:32:03 - INFO: Sensor speed of sound is 1500 m/s
2026-07-29T03:32:03 - INFO: Sensor range is 1.228080 m
2026-07-29T03:32:03 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-29T03:32:03 - INFO: Scaled micrometres per sample is 4065.009075
2026-07-29T03:32:03 - INFO: Processing 4392 snapshot scans from 4392 source sweeps...
2026-07-29T03:32:03 - INFO: Processing sonar scans with 8 worker processes and chunksize 64

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2026-07-29T03:32:32 - INFO: Applying sonar temporal consistency...
2026-07-29T03:32:45 - INFO: Sonar temporal gap fill (window 2): 1038749 points, 10958 candidate beams, filled 3867
2026-07-29T03:32:46 - INFO: Sonar temporal segment pruning (window 3): removed 12 segments, 167 points
2026-07-29T03:32:53 - INFO: Prepared sonar data in 53.5099 s
2026-07-29T03:32:53 - INFO: No IMU data found
2026-07-29T03:32:53 - INFO: DataPrep took 0:00:54.051723
2026-07-29T03:32:54 - INFO: Extracted sonar data in 0:05:15.604926
2026-07-29T03:32:55 - INFO: MSIP3D took 0:05:17.083014