+ [ 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
+ [ md = md ]
+ echo --laser-front
+ 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 --laser-front --sonar-sample-offset -1 /working/b9731b14-c505-8a4f-221c-d617decd4ce0
2026-07-29T04:47:43 - INFO: MSIP3D 0.2.11
2026-07-29T04:47:43 - INFO: P3D files will be output to /working/b9731b14-c505-8a4f-221c-d617decd4ce0/b9731b14-c505-8a4f-221c-d617decd4ce0
2026-07-29T04:47:43 - INFO: Found 10 TFD dictionary entries
2026-07-29T04:47:43 - INFO: Found TFD mission for 1654SS
2026-07-29T04:47:43 - INFO: Recording will be processed as MD
2026-07-29T04:47:43 - INFO: Copying assets JSON to output directory...
2026-07-29T04:47:43 - INFO: Preparing counter data...
2026-07-29T04:47:43 - INFO: Interpreting counter as imperial
2026-07-29T04:47:43 - INFO: Preparing size track from assets JSON...
2026-07-29T04:47:43 - INFO: Preparing shape track from assets JSON...
2026-07-29T04:47:43 - INFO: Preparing material track from assets JSON...
2026-07-29T04:47:43 - INFO: Prepared counter data in 0.0447 s
2026-07-29T04:47:43 - INFO: Extracting sonar data...
TFD path: /working/b9731b14-c505-8a4f-221c-d617decd4ce0/tfd/1654SS.tfd
TFD path: /working/b9731b14-c505-8a4f-221c-d617decd4ce0/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855215965616818764
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: CCTV, Tag: 4855215965616818755
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 1384
21 / 1384 [->__________________________________________________________________________] 1.52% ? p/s44 / 1384 [-->_________________________________________________________________________] 3.18% ? p/s65 / 1384 [--->________________________________________________________________________] 4.70% ? p/s87 / 1384 [---->_____________________________________________________________________] 6.29% 110 p/s110 / 1384 [----->___________________________________________________________________] 7.95% 110 p/s130 / 1384 [------>__________________________________________________________________] 9.39% 110 p/s152 / 1384 [------->________________________________________________________________] 10.98% 110 p/s175 / 1384 [--------->______________________________________________________________] 12.64% 110 p/s197 / 1384 [---------->_____________________________________________________________] 14.23% 110 p/s219 / 1384 [----------->____________________________________________________________] 15.82% 110 p/s241 / 1384 [------------>___________________________________________________________] 17.41% 110 p/s262 / 1384 [------------->__________________________________________________________] 18.93% 110 p/s284 / 1384 [-------------->_________________________________________________________] 20.52% 110 p/s306 / 1384 [--------------->________________________________________________________] 22.11% 110 p/s328 / 1384 [----------------->______________________________________________________] 23.70% 110 p/s351 / 1384 [------------------>_____________________________________________________] 25.36% 110 p/s373 / 1384 [------------------->____________________________________________________] 26.95% 110 p/s395 / 1384 [-------------------->___________________________________________________] 28.54% 110 p/s417 / 1384 [--------------------->__________________________________________________] 30.13% 110 p/s439 / 1384 [---------------------->_________________________________________________] 31.72% 110 p/s461 / 1384 [----------------------->________________________________________________] 33.31% 110 p/s484 / 1384 [------------------------->______________________________________________] 34.97% 110 p/s504 / 1384 [-------------------------->_____________________________________________] 36.42% 110 p/s526 / 1384 [--------------------------->____________________________________________] 38.01% 110 p/s548 / 1384 [---------------------------->___________________________________________] 39.60% 110 p/s570 / 1384 [----------------------------->__________________________________________] 41.18% 110 p/s592 / 1384 [------------------------------>_________________________________________] 42.77% 110 p/s614 / 1384 [------------------------------->________________________________________] 44.36% 110 p/s636 / 1384 [--------------------------------->______________________________________] 45.95% 110 p/s658 / 1384 [---------------------------------->_____________________________________] 47.54% 110 p/s680 / 1384 [----------------------------------->____________________________________] 49.13% 110 p/s702 / 1384 [------------------------------------>___________________________________] 50.72% 110 p/s725 / 1384 [------------------------------------->__________________________________] 52.38% 110 p/s747 / 1384 [-------------------------------------->_________________________________] 53.97% 110 p/s769 / 1384 [---------------------------------------->_______________________________] 55.56% 110 p/s791 / 1384 [----------------------------------------->______________________________] 57.15% 110 p/s813 / 1384 [------------------------------------------>_____________________________] 58.74% 110 p/s835 / 1384 [------------------------------------------->____________________________] 60.33% 110 p/s857 / 1384 [-------------------------------------------->___________________________] 61.92% 110 p/s879 / 1384 [--------------------------------------------->__________________________] 63.51% 110 p/s901 / 1384 [---------------------------------------------->_________________________] 65.10% 110 p/s924 / 1384 [------------------------------------------------>_______________________] 66.76% 110 p/s946 / 1384 [------------------------------------------------->______________________] 68.35% 110 p/s968 / 1384 [-------------------------------------------------->_____________________] 69.94% 110 p/s990 / 1384 [--------------------------------------------------->____________________] 71.53% 110 p/s1013 / 1384 [--------------------------------------------------->___________________] 73.19% 110 p/s1034 / 1384 [----------------------------------------------------->_________________] 74.71% 110 p/s1056 / 1384 [------------------------------------------------------>________________] 76.30% 110 p/s1079 / 1384 [------------------------------------------------------->_______________] 77.96% 110 p/s1101 / 1384 [-------------------------------------------------------->______________] 79.55% 110 p/s1123 / 1384 [--------------------------------------------------------->_____________] 81.14% 110 p/s1146 / 1384 [---------------------------------------------------------->____________] 82.80% 110 p/s1169 / 1384 [----------------------------------------------------------->___________] 84.47% 110 p/s1191 / 1384 [------------------------------------------------------------->_________] 86.05% 110 p/s1214 / 1384 [-------------------------------------------------------------->________] 87.72% 110 p/s1236 / 1384 [--------------------------------------------------------------->_______] 89.31% 110 p/s1259 / 1384 [---------------------------------------------------------------->______] 90.97% 110 p/s1281 / 1384 [----------------------------------------------------------------->_____] 92.56% 111 p/s1304 / 1384 [------------------------------------------------------------------>____] 94.22% 111 p/s1326 / 1384 [-------------------------------------------------------------------->__] 95.81% 111 p/s1349 / 1384 [--------------------------------------------------------------------->_] 97.47% 111 p/s1371 / 1384 [---------------------------------------------------------------------->] 99.06% 111 p/s1384 / 1384 [----------------------------------------------------------------------] 100.00% 112 p/s2026-07-29T04:47:56 - INFO: Parsing 1384 sonar sweeps from /working/b9731b14-c505-8a4f-221c-d617decd4ce0/tfd/output/SONAR/all-sweeps-info.csv...

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2026-07-29T04:48:47 - INFO: Writing sonar_raw.track.cbor
2026-07-29T04:49:07 - 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 --sonar-flip /working/b9731b14-c505-8a4f-221c-d617decd4ce0/b9731b14-c505-8a4f-221c-d617decd4ce0"
2026-07-29T04:49:08 - INFO: DataPrep 0.15.2a2
2026-07-29T04:49:08 - INFO: Prepared data will be output to /working/b9731b14-c505-8a4f-221c-d617decd4ce0/b9731b14-c505-8a4f-221c-d617decd4ce0/processing/data
2026-07-29T04:49:08 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-29T04:49:08 - deployment - INFO: Detected P3D version: P3D_1
2026-07-29T04:49:08 - INFO: Recording GUID: b9731b14-c505-8a4f-221c-d617decd4ce0
2026-07-29T04:49:08 - INFO: Preparing sonar data...
2026-07-29T04:49:08 - INFO: /working/b9731b14-c505-8a4f-221c-d617decd4ce0/b9731b14-c505-8a4f-221c-d617decd4ce0/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-29T04:49:09 - INFO: Sonar epoch is 2026-03-10 14:34:59.788422+00:00 (1773153299788422280)
2026-07-29T04:49:09 - INFO: Creating sonar sensor alignment track...
2026-07-29T04:49:09 - INFO: Using sonar rotation of 0.279253 radians for wedge mask
2026-07-29T04:49:09 - INFO: Using sonar digitizer
2026-07-29T04:49:09 - INFO: Sensor speed of sound is 1500 m/s
2026-07-29T04:49:09 - INFO: Sensor range is 0.722400 m
2026-07-29T04:49:09 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-29T04:49:09 - INFO: Scaled micrometres per sample is 2391.181774
2026-07-29T04:49:09 - INFO: Processing 1384 snapshot scans from 1384 source sweeps...
2026-07-29T04:49:09 - INFO: Processing sonar scans with 8 worker processes and chunksize 43

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2026-07-29T04:49:20 - INFO: Applying sonar temporal consistency...
2026-07-29T04:49:25 - INFO: Sonar temporal gap fill (window 2): 302553 points, 17857 candidate beams, filled 17092
2026-07-29T04:49:25 - INFO: Sonar temporal segment pruning (window 3): removed 15 segments, 114 points
2026-07-29T04:49:27 - INFO: Prepared sonar data in 19.2772 s
2026-07-29T04:49:27 - INFO: No IMU data found
2026-07-29T04:49:27 - INFO: DataPrep took 0:00:19.447802
2026-07-29T04:49:27 - INFO: Extracted sonar data in 0:01:44.262025
2026-07-29T04:49:28 - INFO: MSIP3D took 0:01:44.641128