+ [ 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/9e4fec19-8b34-1f52-b9ff-b5f8d973b31c
2026-07-29T04:49:12 - INFO: MSIP3D 0.2.11
2026-07-29T04:49:12 - INFO: P3D files will be output to /working/9e4fec19-8b34-1f52-b9ff-b5f8d973b31c/9e4fec19-8b34-1f52-b9ff-b5f8d973b31c
2026-07-29T04:49:12 - INFO: Found 10 TFD dictionary entries
2026-07-29T04:49:12 - INFO: Found TFD mission for 1663SS
2026-07-29T04:49:12 - INFO: Recording will be processed as MD
2026-07-29T04:49:12 - INFO: Copying assets JSON to output directory...
2026-07-29T04:49:12 - INFO: Preparing counter data...
2026-07-29T04:49:12 - INFO: Interpreting counter as imperial
2026-07-29T04:49:12 - INFO: Preparing size track from assets JSON...
2026-07-29T04:49:12 - INFO: Preparing shape track from assets JSON...
2026-07-29T04:49:12 - INFO: Preparing material track from assets JSON...
2026-07-29T04:49:12 - INFO: Prepared counter data in 0.0283 s
2026-07-29T04:49:12 - INFO: Extracting sonar data...
TFD path: /working/9e4fec19-8b34-1f52-b9ff-b5f8d973b31c/tfd/1663SS.tfd
TFD path: /working/9e4fec19-8b34-1f52-b9ff-b5f8d973b31c/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215965616818764
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: CCTV, Tag: 4855215965616818755
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 2007
15 / 2007 [>___________________________________________________________________________] 0.75% ? p/s34 / 2007 [->__________________________________________________________________________] 1.69% ? p/s56 / 2007 [-->_________________________________________________________________________] 2.79% ? p/s73 / 2007 [-->________________________________________________________________________] 3.64% 97 p/s96 / 2007 [--->_______________________________________________________________________] 4.78% 97 p/s118 / 2007 [---->_____________________________________________________________________] 5.88% 97 p/s140 / 2007 [----->____________________________________________________________________] 6.98% 98 p/s163 / 2007 [------>___________________________________________________________________] 8.12% 98 p/s185 / 2007 [------>___________________________________________________________________] 9.22% 98 p/s207 / 2007 [------->_________________________________________________________________] 10.31% 99 p/s230 / 2007 [-------->________________________________________________________________] 11.46% 99 p/s252 / 2007 [--------->_______________________________________________________________] 12.56% 99 p/s274 / 2007 [--------->_______________________________________________________________] 13.65% 99 p/s297 / 2007 [---------->______________________________________________________________] 14.80% 99 p/s320 / 2007 [----------->_____________________________________________________________] 15.94% 99 p/s342 / 2007 [------------>___________________________________________________________] 17.04% 100 p/s365 / 2007 [------------->__________________________________________________________] 18.19% 100 p/s387 / 2007 [------------->__________________________________________________________] 19.28% 100 p/s410 / 2007 [-------------->_________________________________________________________] 20.43% 101 p/s432 / 2007 [--------------->________________________________________________________] 21.52% 101 p/s455 / 2007 [---------------->_______________________________________________________] 22.67% 101 p/s477 / 2007 [----------------->______________________________________________________] 23.77% 102 p/s499 / 2007 [----------------->______________________________________________________] 24.86% 102 p/s521 / 2007 [------------------>_____________________________________________________] 25.96% 102 p/s543 / 2007 [------------------->____________________________________________________] 27.06% 102 p/s566 / 2007 [-------------------->___________________________________________________] 28.20% 102 p/s588 / 2007 [--------------------->__________________________________________________] 29.30% 102 p/s611 / 2007 [--------------------->__________________________________________________] 30.44% 103 p/s633 / 2007 [---------------------->_________________________________________________] 31.54% 103 p/s656 / 2007 [----------------------->________________________________________________] 32.69% 103 p/s678 / 2007 [------------------------>_______________________________________________] 33.78% 104 p/s700 / 2007 [------------------------->______________________________________________] 34.88% 104 p/s723 / 2007 [------------------------->______________________________________________] 36.02% 104 p/s745 / 2007 [-------------------------->_____________________________________________] 37.12% 104 p/s767 / 2007 [--------------------------->____________________________________________] 38.22% 104 p/s790 / 2007 [---------------------------->___________________________________________] 39.36% 104 p/s812 / 2007 [----------------------------->__________________________________________] 40.46% 105 p/s834 / 2007 [----------------------------->__________________________________________] 41.55% 105 p/s857 / 2007 [------------------------------>_________________________________________] 42.70% 105 p/s880 / 2007 [------------------------------->________________________________________] 43.85% 105 p/s902 / 2007 [-------------------------------->_______________________________________] 44.94% 105 p/s924 / 2007 [--------------------------------->______________________________________] 46.04% 105 p/s947 / 2007 [--------------------------------->______________________________________] 47.18% 106 p/s970 / 2007 [---------------------------------->_____________________________________] 48.33% 106 p/s993 / 2007 [----------------------------------->____________________________________] 49.48% 106 p/s1016 / 2007 [----------------------------------->___________________________________] 50.62% 106 p/s1038 / 2007 [------------------------------------>__________________________________] 51.72% 106 p/s1060 / 2007 [------------------------------------->_________________________________] 52.82% 106 p/s1083 / 2007 [-------------------------------------->________________________________] 53.96% 107 p/s1105 / 2007 [--------------------------------------->_______________________________] 55.06% 107 p/s1128 / 2007 [--------------------------------------->_______________________________] 56.20% 107 p/s1150 / 2007 [---------------------------------------->______________________________] 57.30% 107 p/s1172 / 2007 [----------------------------------------->_____________________________] 58.40% 107 p/s1195 / 2007 [------------------------------------------>____________________________] 59.54% 107 p/s1218 / 2007 [------------------------------------------->___________________________] 60.69% 107 p/s1240 / 2007 [------------------------------------------->___________________________] 61.78% 107 p/s1263 / 2007 [-------------------------------------------->__________________________] 62.93% 107 p/s1285 / 2007 [--------------------------------------------->_________________________] 64.03% 108 p/s1307 / 2007 [---------------------------------------------->________________________] 65.12% 108 p/s1330 / 2007 [----------------------------------------------->_______________________] 66.27% 108 p/s1352 / 2007 [----------------------------------------------->_______________________] 67.36% 108 p/s1374 / 2007 [------------------------------------------------>______________________] 68.46% 108 p/s1396 / 2007 [------------------------------------------------->_____________________] 69.56% 108 p/s1418 / 2007 [-------------------------------------------------->____________________] 70.65% 108 p/s1441 / 2007 [-------------------------------------------------->____________________] 71.80% 108 p/s1464 / 2007 [--------------------------------------------------->___________________] 72.94% 108 p/s1486 / 2007 [---------------------------------------------------->__________________] 74.04% 108 p/s1509 / 2007 [----------------------------------------------------->_________________] 75.19% 108 p/s1532 / 2007 [------------------------------------------------------>________________] 76.33% 108 p/s1554 / 2007 [------------------------------------------------------>________________] 77.43% 109 p/s1576 / 2007 [------------------------------------------------------->_______________] 78.53% 109 p/s1598 / 2007 [-------------------------------------------------------->______________] 79.62% 109 p/s1621 / 2007 [--------------------------------------------------------->_____________] 80.77% 109 p/s1643 / 2007 [---------------------------------------------------------->____________] 81.86% 109 p/s1666 / 2007 [---------------------------------------------------------->____________] 83.01% 109 p/s1689 / 2007 [----------------------------------------------------------->___________] 84.16% 109 p/s1712 / 2007 [------------------------------------------------------------>__________] 85.30% 109 p/s1735 / 2007 [------------------------------------------------------------->_________] 86.45% 109 p/s1758 / 2007 [-------------------------------------------------------------->________] 87.59% 110 p/s1780 / 2007 [-------------------------------------------------------------->________] 88.69% 110 p/s1803 / 2007 [--------------------------------------------------------------->_______] 89.84% 110 p/s1827 / 2007 [---------------------------------------------------------------->______] 91.03% 110 p/s1850 / 2007 [----------------------------------------------------------------->_____] 92.18% 110 p/s1872 / 2007 [------------------------------------------------------------------>____] 93.27% 110 p/s1896 / 2007 [------------------------------------------------------------------->___] 94.47% 110 p/s1918 / 2007 [------------------------------------------------------------------->___] 95.57% 110 p/s1942 / 2007 [-------------------------------------------------------------------->__] 96.76% 110 p/s1964 / 2007 [--------------------------------------------------------------------->_] 97.86% 110 p/s1988 / 2007 [---------------------------------------------------------------------->] 99.05% 110 p/s2007 / 2007 [----------------------------------------------------------------------] 100.00% 113 p/s2026-07-29T04:49:30 - INFO: Parsing 2007 sonar sweeps from /working/9e4fec19-8b34-1f52-b9ff-b5f8d973b31c/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/2007 [00:00<?, ?it/s]
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  0%|          | 6/2007 [00:00<01:13, 27.13it/s]
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2026-07-29T04:50:44 - INFO: Writing sonar_raw.track.cbor
2026-07-29T04:51:13 - 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/9e4fec19-8b34-1f52-b9ff-b5f8d973b31c/9e4fec19-8b34-1f52-b9ff-b5f8d973b31c"
2026-07-29T04:51:13 - INFO: DataPrep 0.15.2a2
2026-07-29T04:51:13 - INFO: Prepared data will be output to /working/9e4fec19-8b34-1f52-b9ff-b5f8d973b31c/9e4fec19-8b34-1f52-b9ff-b5f8d973b31c/processing/data
2026-07-29T04:51:13 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-29T04:51:13 - deployment - INFO: Detected P3D version: P3D_1
2026-07-29T04:51:13 - INFO: Recording GUID: 9e4fec19-8b34-1f52-b9ff-b5f8d973b31c
2026-07-29T04:51:13 - INFO: Preparing sonar data...
2026-07-29T04:51:13 - INFO: /working/9e4fec19-8b34-1f52-b9ff-b5f8d973b31c/9e4fec19-8b34-1f52-b9ff-b5f8d973b31c/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-29T04:51:15 - INFO: Sonar epoch is 2026-02-19 18:37:54.821940+00:00 (1771526274821939978)
2026-07-29T04:51:15 - INFO: Creating sonar sensor alignment track...
2026-07-29T04:51:15 - INFO: Using sonar rotation of 0.244346 radians for wedge mask
2026-07-29T04:51:15 - INFO: Using sonar digitizer
2026-07-29T04:51:15 - INFO: Sensor speed of sound is 1500 m/s
2026-07-29T04:51:15 - INFO: Sensor range is 0.722400 m
2026-07-29T04:51:15 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-29T04:51:15 - INFO: Scaled micrometres per sample is 2391.181774
2026-07-29T04:51:15 - INFO: Processing 2007 snapshot scans from 2007 source sweeps...
2026-07-29T04:51:15 - INFO: Processing sonar scans with 8 worker processes and chunksize 62

  0%|          | 0/2007 [00:00<?, ?scan/s]
  0%|          | 1/2007 [00:02<1:39:54,  2.99s/scan]
  3%|▎         | 63/2007 [00:03<01:15, 25.64scan/s] 
  6%|▌         | 125/2007 [00:03<00:36, 51.13scan/s]
  9%|▉         | 187/2007 [00:03<00:22, 79.28scan/s]
 12%|█▏        | 249/2007 [00:04<00:19, 90.88scan/s]
 22%|██▏       | 435/2007 [00:05<00:10, 143.87scan/s]
 25%|██▍       | 497/2007 [00:06<00:16, 92.76scan/s] 
 28%|██▊       | 559/2007 [00:06<00:12, 116.26scan/s]
 31%|███       | 621/2007 [00:07<00:13, 103.64scan/s]
 34%|███▍      | 683/2007 [00:08<00:11, 120.05scan/s]
 37%|███▋      | 745/2007 [00:08<00:08, 142.75scan/s]
 40%|████      | 807/2007 [00:08<00:07, 159.78scan/s]
 43%|████▎     | 869/2007 [00:08<00:07, 161.62scan/s]
 49%|████▉     | 993/2007 [00:09<00:06, 147.46scan/s]
 53%|█████▎    | 1055/2007 [00:10<00:06, 147.88scan/s]
 56%|█████▌    | 1117/2007 [00:10<00:07, 124.76scan/s]
 59%|█████▊    | 1179/2007 [00:11<00:05, 152.51scan/s]
 62%|██████▏   | 1241/2007 [00:11<00:04, 167.00scan/s]
 65%|██████▍   | 1303/2007 [00:11<00:04, 161.80scan/s]
 68%|██████▊   | 1365/2007 [00:12<00:04, 147.37scan/s]
 71%|███████   | 1427/2007 [00:12<00:03, 153.54scan/s]
 74%|███████▍  | 1489/2007 [00:12<00:02, 186.96scan/s]
 77%|███████▋  | 1551/2007 [00:13<00:03, 141.87scan/s]
 80%|████████  | 1613/2007 [00:13<00:02, 155.10scan/s]
 82%|████████▏ | 1636/2007 [00:14<00:02, 146.73scan/s]
 88%|████████▊ | 1760/2007 [00:14<00:01, 236.83scan/s]
 94%|█████████▍| 1884/2007 [00:14<00:00, 269.08scan/s]
 97%|█████████▋| 1946/2007 [00:14<00:00, 244.69scan/s]
100%|██████████| 2007/2007 [00:14<00:00, 134.15scan/s]
2026-07-29T04:51:30 - INFO: Applying sonar temporal consistency...
2026-07-29T04:51:36 - INFO: Sonar temporal gap fill (window 2): 407107 points, 35216 candidate beams, filled 31807
2026-07-29T04:51:37 - INFO: Sonar temporal segment pruning (window 3): removed 46 segments, 451 points
2026-07-29T04:51:40 - INFO: Prepared sonar data in 26.1584 s
2026-07-29T04:51:40 - INFO: No IMU data found
2026-07-29T04:51:40 - INFO: DataPrep took 0:00:26.404459
2026-07-29T04:51:40 - INFO: Extracted sonar data in 0:02:28.034760
2026-07-29T04:51:41 - INFO: MSIP3D took 0:02:28.693412