+ [ 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/51979b48-5a91-d8d6-f46f-9dd3f9e5a34e
2026-07-29T04:51:16 - INFO: MSIP3D 0.2.11
2026-07-29T04:51:16 - INFO: P3D files will be output to /working/51979b48-5a91-d8d6-f46f-9dd3f9e5a34e/51979b48-5a91-d8d6-f46f-9dd3f9e5a34e
2026-07-29T04:51:16 - INFO: Found 10 TFD dictionary entries
2026-07-29T04:51:16 - INFO: Found TFD mission for 1661SS
2026-07-29T04:51:16 - INFO: Recording will be processed as MD
2026-07-29T04:51:16 - INFO: Copying assets JSON to output directory...
2026-07-29T04:51:16 - INFO: Preparing counter data...
2026-07-29T04:51:16 - INFO: Interpreting counter as imperial
2026-07-29T04:51:16 - INFO: Preparing size track from assets JSON...
2026-07-29T04:51:16 - INFO: Preparing shape track from assets JSON...
2026-07-29T04:51:16 - INFO: Preparing material track from assets JSON...
2026-07-29T04:51:16 - INFO: Prepared counter data in 0.0876 s
2026-07-29T04:51:16 - INFO: Extracting sonar data...
TFD path: /working/51979b48-5a91-d8d6-f46f-9dd3f9e5a34e/tfd/1661SS.tfd
TFD path: /working/51979b48-5a91-d8d6-f46f-9dd3f9e5a34e/tfd/output
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: CCTV, Tag: 4855215965616818755
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215965616818764
Getting track SONAR
Number of frames: 5153
22 / 5153 [>___________________________________________________________________________] 0.43% ? p/s46 / 5153 [>___________________________________________________________________________] 0.89% ? p/s68 / 5153 [->__________________________________________________________________________] 1.32% ? p/s91 / 5153 [->________________________________________________________________________] 1.77% 115 p/s114 / 5153 [->_______________________________________________________________________] 2.21% 115 p/s134 / 5153 [->_______________________________________________________________________] 2.60% 115 p/s157 / 5153 [-->______________________________________________________________________] 3.05% 115 p/s178 / 5153 [-->______________________________________________________________________] 3.45% 115 p/s199 / 5153 [-->______________________________________________________________________] 3.86% 115 p/s221 / 5153 [--->_____________________________________________________________________] 4.29% 114 p/s240 / 5153 [--->_____________________________________________________________________] 4.66% 114 p/s262 / 5153 [--->_____________________________________________________________________] 5.08% 114 p/s284 / 5153 [---->____________________________________________________________________] 5.51% 114 p/s306 / 5153 [---->____________________________________________________________________] 5.94% 114 p/s328 / 5153 [---->____________________________________________________________________] 6.37% 114 p/s350 / 5153 [---->____________________________________________________________________] 6.79% 113 p/s372 / 5153 [----->___________________________________________________________________] 7.22% 113 p/s394 / 5153 [----->___________________________________________________________________] 7.65% 113 p/s416 / 5153 [----->___________________________________________________________________] 8.07% 113 p/s438 / 5153 [------>__________________________________________________________________] 8.50% 113 p/s460 / 5153 [------>__________________________________________________________________] 8.93% 113 p/s482 / 5153 [------>__________________________________________________________________] 9.35% 113 p/s504 / 5153 [------->_________________________________________________________________] 9.78% 113 p/s525 / 5153 [------->________________________________________________________________] 10.19% 113 p/s546 / 5153 [------->________________________________________________________________] 10.60% 113 p/s568 / 5153 [------->________________________________________________________________] 11.02% 113 p/s590 / 5153 [-------->_______________________________________________________________] 11.45% 113 p/s612 / 5153 [-------->_______________________________________________________________] 11.88% 112 p/s634 / 5153 [-------->_______________________________________________________________] 12.30% 112 p/s656 / 5153 [--------->______________________________________________________________] 12.73% 112 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p/s898 / 5153 [------------>___________________________________________________________] 17.43% 112 p/s920 / 5153 [------------>___________________________________________________________] 17.85% 112 p/s942 / 5153 [------------->__________________________________________________________] 18.28% 112 p/s965 / 5153 [------------->__________________________________________________________] 18.73% 112 p/s986 / 5153 [------------->__________________________________________________________] 19.13% 112 p/s1008 / 5153 [------------->_________________________________________________________] 19.56% 112 p/s1030 / 5153 [-------------->________________________________________________________] 19.99% 112 p/s1052 / 5153 [-------------->________________________________________________________] 20.42% 112 p/s1074 / 5153 [-------------->________________________________________________________] 20.84% 111 p/s1096 / 5153 [--------------->_______________________________________________________] 21.27% 111 p/s1118 / 5153 [--------------->_______________________________________________________] 21.70% 111 p/s1140 / 5153 [--------------->_______________________________________________________] 22.12% 111 p/s1162 / 5153 [---------------->______________________________________________________] 22.55% 111 p/s1185 / 5153 [---------------->______________________________________________________] 23.00% 111 p/s1207 / 5153 [---------------->______________________________________________________] 23.42% 111 p/s1229 / 5153 [---------------->______________________________________________________] 23.85% 111 p/s1251 / 5153 [----------------->_____________________________________________________] 24.28% 111 p/s1274 / 5153 [----------------->_____________________________________________________] 24.72% 111 p/s1296 / 5153 [----------------->_____________________________________________________] 25.15% 111 p/s1318 / 5153 [------------------>____________________________________________________] 25.58% 111 p/s1340 / 5153 [------------------>____________________________________________________] 26.00% 111 p/s1362 / 5153 [------------------>____________________________________________________] 26.43% 111 p/s1385 / 5153 [------------------->___________________________________________________] 26.88% 111 p/s1407 / 5153 [------------------->___________________________________________________] 27.30% 111 p/s1429 / 5153 [------------------->___________________________________________________] 27.73% 111 p/s1451 / 5153 [------------------->___________________________________________________] 28.16% 111 p/s1473 / 5153 [-------------------->__________________________________________________] 28.59% 111 p/s1495 / 5153 [-------------------->__________________________________________________] 29.01% 111 p/s1517 / 5153 [-------------------->__________________________________________________] 29.44% 111 p/s1539 / 5153 [--------------------->_________________________________________________] 29.87% 111 p/s1562 / 5153 [--------------------->_________________________________________________] 30.31% 111 p/s1584 / 5153 [--------------------->_________________________________________________] 30.74% 111 p/s1606 / 5153 [---------------------->________________________________________________] 31.17% 111 p/s1628 / 5153 [---------------------->________________________________________________] 31.59% 111 p/s1650 / 5153 [---------------------->________________________________________________] 32.02% 111 p/s1673 / 5153 [----------------------->_______________________________________________] 32.47% 111 p/s1695 / 5153 [----------------------->_______________________________________________] 32.89% 111 p/s1717 / 5153 [----------------------->_______________________________________________] 33.32% 111 p/s1739 / 5153 [----------------------->_______________________________________________] 33.75% 111 p/s1761 / 5153 [------------------------>______________________________________________] 34.17% 111 p/s1783 / 5153 [------------------------>______________________________________________] 34.60% 111 p/s1806 / 5153 [------------------------>______________________________________________] 35.05% 111 p/s1828 / 5153 [------------------------->_____________________________________________] 35.47% 111 p/s1850 / 5153 [------------------------->_____________________________________________] 35.90% 111 p/s1872 / 5153 [------------------------->_____________________________________________] 36.33% 111 p/s1894 / 5153 [-------------------------->____________________________________________] 36.76% 111 p/s1917 / 5153 [-------------------------->____________________________________________] 37.20% 111 p/s1939 / 5153 [-------------------------->____________________________________________] 37.63% 111 p/s1961 / 5153 [--------------------------->___________________________________________] 38.06% 111 p/s1983 / 5153 [--------------------------->___________________________________________] 38.48% 111 p/s2005 / 5153 [--------------------------->___________________________________________] 38.91% 111 p/s2027 / 5153 [--------------------------->___________________________________________] 39.34% 111 p/s2048 / 5153 [---------------------------->__________________________________________] 39.74% 111 p/s2070 / 5153 [---------------------------->__________________________________________] 40.17% 111 p/s2092 / 5153 [---------------------------->__________________________________________] 40.60% 111 p/s2114 / 5153 [----------------------------->_________________________________________] 41.02% 111 p/s2136 / 5153 [----------------------------->_________________________________________] 41.45% 111 p/s2158 / 5153 [----------------------------->_________________________________________] 41.88% 111 p/s2180 / 5153 [------------------------------>________________________________________] 42.31% 111 p/s2203 / 5153 [------------------------------>________________________________________] 42.75% 111 p/s2225 / 5153 [------------------------------>________________________________________] 43.18% 111 p/s2246 / 5153 [------------------------------>________________________________________] 43.59% 111 p/s2268 / 5153 [------------------------------->_______________________________________] 44.01% 111 p/s2290 / 5153 [------------------------------->_______________________________________] 44.44% 111 p/s2312 / 5153 [------------------------------->_______________________________________] 44.87% 111 p/s2334 / 5153 [-------------------------------->______________________________________] 45.29% 111 p/s2356 / 5153 [-------------------------------->______________________________________] 45.72% 111 p/s2378 / 5153 [-------------------------------->______________________________________] 46.15% 111 p/s2400 / 5153 [--------------------------------->_____________________________________] 46.57% 111 p/s2420 / 5153 [--------------------------------->_____________________________________] 46.96% 111 p/s2442 / 5153 [--------------------------------->_____________________________________] 47.39% 111 p/s2464 / 5153 [--------------------------------->_____________________________________] 47.82% 110 p/s2486 / 5153 [---------------------------------->____________________________________] 48.24% 110 p/s2508 / 5153 [---------------------------------->____________________________________] 48.67% 110 p/s2530 / 5153 [---------------------------------->____________________________________] 49.10% 110 p/s2552 / 5153 [----------------------------------->___________________________________] 49.52% 110 p/s2575 / 5153 [----------------------------------->___________________________________] 49.97% 110 p/s2597 / 5153 [----------------------------------->___________________________________] 50.40% 110 p/s2619 / 5153 [------------------------------------>__________________________________] 50.82% 110 p/s2641 / 5153 [------------------------------------>__________________________________] 51.25% 110 p/s2663 / 5153 [------------------------------------>__________________________________] 51.68% 110 p/s2685 / 5153 [------------------------------------>__________________________________] 52.11% 110 p/s2707 / 5153 [------------------------------------->_________________________________] 52.53% 110 p/s2722 / 5153 [------------------------------------->_________________________________] 52.82% 110 p/s2741 / 5153 [------------------------------------->_________________________________] 53.19% 110 p/s2763 / 5153 [-------------------------------------->________________________________] 53.62% 110 p/s2786 / 5153 [-------------------------------------->________________________________] 54.07% 109 p/s2809 / 5153 [-------------------------------------->________________________________] 54.51% 109 p/s2831 / 5153 [--------------------------------------->_______________________________] 54.94% 109 p/s2854 / 5153 [--------------------------------------->_______________________________] 55.39% 110 p/s2876 / 5153 [--------------------------------------->_______________________________] 55.81% 110 p/s2899 / 5153 [--------------------------------------->_______________________________] 56.26% 110 p/s2922 / 5153 [---------------------------------------->______________________________] 56.70% 110 p/s2945 / 5153 [---------------------------------------->______________________________] 57.15% 110 p/s2968 / 5153 [---------------------------------------->______________________________] 57.60% 110 p/s2991 / 5153 [----------------------------------------->_____________________________] 58.04% 110 p/s3014 / 5153 [----------------------------------------->_____________________________] 58.49% 110 p/s3036 / 5153 [----------------------------------------->_____________________________] 58.92% 110 p/s3059 / 5153 [------------------------------------------>____________________________] 59.36% 110 p/s3082 / 5153 [------------------------------------------>____________________________] 59.81% 110 p/s3104 / 5153 [------------------------------------------>____________________________] 60.24% 110 p/s3127 / 5153 [------------------------------------------->___________________________] 60.68% 111 p/s3150 / 5153 [------------------------------------------->___________________________] 61.13% 111 p/s3172 / 5153 [------------------------------------------->___________________________] 61.56% 111 p/s3195 / 5153 [-------------------------------------------->__________________________] 62.00% 111 p/s3217 / 5153 [-------------------------------------------->__________________________] 62.43% 111 p/s3240 / 5153 [-------------------------------------------->__________________________] 62.88% 111 p/s3262 / 5153 [-------------------------------------------->__________________________] 63.30% 111 p/s3285 / 5153 [--------------------------------------------->_________________________] 63.75% 111 p/s3307 / 5153 [--------------------------------------------->_________________________] 64.18% 111 p/s3330 / 5153 [--------------------------------------------->_________________________] 64.62% 111 p/s3353 / 5153 [---------------------------------------------->________________________] 65.07% 111 p/s3375 / 5153 [---------------------------------------------->________________________] 65.50% 111 p/s3398 / 5153 [---------------------------------------------->________________________] 65.94% 111 p/s3421 / 5153 [----------------------------------------------->_______________________] 66.39% 111 p/s3443 / 5153 [----------------------------------------------->_______________________] 66.82% 111 p/s3466 / 5153 [----------------------------------------------->_______________________] 67.26% 111 p/s3488 / 5153 [------------------------------------------------>______________________] 67.69% 111 p/s3510 / 5153 [------------------------------------------------>______________________] 68.12% 111 p/s3533 / 5153 [------------------------------------------------>______________________] 68.56% 111 p/s3556 / 5153 [------------------------------------------------>______________________] 69.01% 111 p/s3579 / 5153 [------------------------------------------------->_____________________] 69.45% 111 p/s3602 / 5153 [------------------------------------------------->_____________________] 69.90% 112 p/s3625 / 5153 [------------------------------------------------->_____________________] 70.35% 112 p/s3647 / 5153 [-------------------------------------------------->____________________] 70.77% 112 p/s3670 / 5153 [-------------------------------------------------->____________________] 71.22% 112 p/s3693 / 5153 [-------------------------------------------------->____________________] 71.67% 112 p/s3716 / 5153 [--------------------------------------------------->___________________] 72.11% 112 p/s3738 / 5153 [--------------------------------------------------->___________________] 72.54% 112 p/s3761 / 5153 [--------------------------------------------------->___________________] 72.99% 112 p/s3784 / 5153 [---------------------------------------------------->__________________] 73.43% 112 p/s3806 / 5153 [---------------------------------------------------->__________________] 73.86% 112 p/s3829 / 5153 [---------------------------------------------------->__________________] 74.31% 112 p/s3852 / 5153 [----------------------------------------------------->_________________] 74.75% 112 p/s3874 / 5153 [----------------------------------------------------->_________________] 75.18% 112 p/s3897 / 5153 [----------------------------------------------------->_________________] 75.63% 112 p/s3920 / 5153 [------------------------------------------------------>________________] 76.07% 112 p/s3943 / 5153 [------------------------------------------------------>________________] 76.52% 112 p/s3965 / 5153 [------------------------------------------------------>________________] 76.95% 112 p/s3988 / 5153 [------------------------------------------------------>________________] 77.39% 112 p/s4010 / 5153 [------------------------------------------------------->_______________] 77.82% 112 p/s4033 / 5153 [------------------------------------------------------->_______________] 78.27% 112 p/s4055 / 5153 [------------------------------------------------------->_______________] 78.69% 112 p/s4078 / 5153 [-------------------------------------------------------->______________] 79.14% 112 p/s4100 / 5153 [-------------------------------------------------------->______________] 79.57% 112 p/s4123 / 5153 [-------------------------------------------------------->______________] 80.01% 112 p/s4146 / 5153 [--------------------------------------------------------->_____________] 80.46% 112 p/s4169 / 5153 [--------------------------------------------------------->_____________] 80.90% 112 p/s4192 / 5153 [--------------------------------------------------------->_____________] 81.35% 112 p/s4215 / 5153 [---------------------------------------------------------->____________] 81.80% 112 p/s4238 / 5153 [---------------------------------------------------------->____________] 82.24% 112 p/s4260 / 5153 [---------------------------------------------------------->____________] 82.67% 112 p/s4283 / 5153 [----------------------------------------------------------->___________] 83.12% 113 p/s4306 / 5153 [----------------------------------------------------------->___________] 83.56% 113 p/s4329 / 5153 [----------------------------------------------------------->___________] 84.01% 113 p/s4351 / 5153 [----------------------------------------------------------->___________] 84.44% 113 p/s4374 / 5153 [------------------------------------------------------------>__________] 84.88% 113 p/s4396 / 5153 [------------------------------------------------------------>__________] 85.31% 113 p/s4419 / 5153 [------------------------------------------------------------>__________] 85.76% 113 p/s4442 / 5153 [------------------------------------------------------------->_________] 86.20% 113 p/s4464 / 5153 [------------------------------------------------------------->_________] 86.63% 113 p/s4487 / 5153 [------------------------------------------------------------->_________] 87.08% 113 p/s4510 / 5153 [-------------------------------------------------------------->________] 87.52% 113 p/s4532 / 5153 [-------------------------------------------------------------->________] 87.95% 113 p/s4555 / 5153 [-------------------------------------------------------------->________] 88.40% 113 p/s4577 / 5153 [--------------------------------------------------------------->_______] 88.82% 113 p/s4600 / 5153 [--------------------------------------------------------------->_______] 89.27% 113 p/s4623 / 5153 [--------------------------------------------------------------->_______] 89.71% 113 p/s4646 / 5153 [---------------------------------------------------------------->______] 90.16% 113 p/s4669 / 5153 [---------------------------------------------------------------->______] 90.61% 113 p/s4691 / 5153 [---------------------------------------------------------------->______] 91.03% 113 p/s4714 / 5153 [---------------------------------------------------------------->______] 91.48% 113 p/s4737 / 5153 [----------------------------------------------------------------->_____] 91.93% 113 p/s4759 / 5153 [----------------------------------------------------------------->_____] 92.35% 113 p/s4782 / 5153 [----------------------------------------------------------------->_____] 92.80% 113 p/s4805 / 5153 [------------------------------------------------------------------>____] 93.25% 113 p/s4827 / 5153 [------------------------------------------------------------------>____] 93.67% 113 p/s4850 / 5153 [------------------------------------------------------------------>____] 94.12% 113 p/s4873 / 5153 [------------------------------------------------------------------->___] 94.57% 113 p/s4896 / 5153 [------------------------------------------------------------------->___] 95.01% 113 p/s4919 / 5153 [------------------------------------------------------------------->___] 95.46% 113 p/s4942 / 5153 [-------------------------------------------------------------------->__] 95.91% 113 p/s4965 / 5153 [-------------------------------------------------------------------->__] 96.35% 113 p/s4987 / 5153 [-------------------------------------------------------------------->__] 96.78% 113 p/s5010 / 5153 [--------------------------------------------------------------------->_] 97.22% 113 p/s5032 / 5153 [--------------------------------------------------------------------->_] 97.65% 113 p/s5055 / 5153 [--------------------------------------------------------------------->_] 98.10% 113 p/s5077 / 5153 [--------------------------------------------------------------------->_] 98.53% 113 p/s5100 / 5153 [---------------------------------------------------------------------->] 98.97% 113 p/s5122 / 5153 [---------------------------------------------------------------------->] 99.40% 113 p/s5145 / 5153 [---------------------------------------------------------------------->] 99.84% 113 p/s5153 / 5153 [----------------------------------------------------------------------] 100.00% 112 p/s2026-07-29T04:52:02 - INFO: Parsing 5153 sonar sweeps from /working/51979b48-5a91-d8d6-f46f-9dd3f9e5a34e/tfd/output/SONAR/all-sweeps-info.csv...

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2026-07-29T04:55:12 - INFO: Writing sonar_raw.track.cbor
2026-07-29T04:56:27 - 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/51979b48-5a91-d8d6-f46f-9dd3f9e5a34e/51979b48-5a91-d8d6-f46f-9dd3f9e5a34e"
2026-07-29T04:56:28 - INFO: DataPrep 0.15.2a2
2026-07-29T04:56:28 - INFO: Prepared data will be output to /working/51979b48-5a91-d8d6-f46f-9dd3f9e5a34e/51979b48-5a91-d8d6-f46f-9dd3f9e5a34e/processing/data
2026-07-29T04:56:28 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-29T04:56:28 - deployment - INFO: Detected P3D version: P3D_1
2026-07-29T04:56:28 - INFO: Recording GUID: 51979b48-5a91-d8d6-f46f-9dd3f9e5a34e
2026-07-29T04:56:28 - INFO: Preparing sonar data...
2026-07-29T04:56:28 - INFO: /working/51979b48-5a91-d8d6-f46f-9dd3f9e5a34e/51979b48-5a91-d8d6-f46f-9dd3f9e5a34e/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-29T04:56:32 - INFO: Sonar epoch is 2026-02-20 14:02:42.166236+00:00 (1771596162166235655)
2026-07-29T04:56:32 - INFO: Creating sonar sensor alignment track...
2026-07-29T04:56:32 - INFO: Using sonar rotation of 0.261799 radians for wedge mask
2026-07-29T04:56:32 - INFO: Using sonar digitizer
2026-07-29T04:56:32 - INFO: Sensor speed of sound is 1500 m/s
2026-07-29T04:56:32 - INFO: Sensor range is 0.722400 m
2026-07-29T04:56:32 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-29T04:56:32 - INFO: Scaled micrometres per sample is 2391.181774
2026-07-29T04:56:32 - INFO: Processing 5153 snapshot scans from 5153 source sweeps...
2026-07-29T04:56:32 - INFO: Processing sonar scans with 8 worker processes and chunksize 64

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2026-07-29T04:57:10 - INFO: Applying sonar temporal consistency...
2026-07-29T04:57:26 - INFO: Sonar temporal gap fill (window 2): 1015975 points, 104220 candidate beams, filled 99067
2026-07-29T04:57:28 - INFO: Sonar temporal segment pruning (window 3): removed 274 segments, 3056 points
2026-07-29T04:57:35 - INFO: Prepared sonar data in 67.0728 s
2026-07-29T04:57:35 - INFO: No IMU data found
2026-07-29T04:57:35 - INFO: DataPrep took 0:01:07.687094
2026-07-29T04:57:36 - INFO: Extracted sonar data in 0:06:19.542626
2026-07-29T04:57:37 - INFO: MSIP3D took 0:06:20.891182