+ [ 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/dbcc6178-5ce9-cc58-4507-41bd5f09d3ba
2026-07-29T04:49:33 - INFO: MSIP3D 0.2.11
2026-07-29T04:49:34 - INFO: P3D files will be output to /working/dbcc6178-5ce9-cc58-4507-41bd5f09d3ba/dbcc6178-5ce9-cc58-4507-41bd5f09d3ba
2026-07-29T04:49:34 - INFO: Found 10 TFD dictionary entries
2026-07-29T04:49:34 - INFO: Found TFD mission for 1708SS
2026-07-29T04:49:34 - INFO: Recording will be processed as MD
2026-07-29T04:49:34 - INFO: Copying assets JSON to output directory...
2026-07-29T04:49:34 - INFO: Preparing counter data...
2026-07-29T04:49:34 - INFO: Interpreting counter as imperial
2026-07-29T04:49:34 - INFO: Preparing size track from assets JSON...
2026-07-29T04:49:34 - INFO: Preparing shape track from assets JSON...
2026-07-29T04:49:34 - INFO: Preparing material track from assets JSON...
2026-07-29T04:49:34 - INFO: Prepared counter data in 0.0203 s
2026-07-29T04:49:34 - INFO: Extracting sonar data...
TFD path: /working/dbcc6178-5ce9-cc58-4507-41bd5f09d3ba/tfd/1708SS.tfd
TFD path: /working/dbcc6178-5ce9-cc58-4507-41bd5f09d3ba/tfd/output
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855215965616818755
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215965616818764
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 1437
21 / 1437 [->__________________________________________________________________________] 1.46% ? p/s34 / 1437 [->__________________________________________________________________________] 2.37% ? p/s46 / 1437 [-->_________________________________________________________________________] 3.20% ? p/s68 / 1437 [--->_______________________________________________________________________] 4.73% 78 p/s90 / 1437 [---->______________________________________________________________________] 6.26% 78 p/s112 / 1437 [----->____________________________________________________________________] 7.79% 78 p/s132 / 1437 [------>___________________________________________________________________] 9.19% 80 p/s154 / 1437 [------->_________________________________________________________________] 10.72% 80 p/s175 / 1437 [-------->________________________________________________________________] 12.18% 80 p/s197 / 1437 [---------->______________________________________________________________] 13.71% 82 p/s219 / 1437 [----------->_____________________________________________________________] 15.24% 82 p/s241 / 1437 [------------>____________________________________________________________] 16.77% 82 p/s263 / 1437 [------------->___________________________________________________________] 18.30% 84 p/s285 / 1437 [-------------->__________________________________________________________] 19.83% 84 p/s307 / 1437 [--------------->_________________________________________________________] 21.36% 84 p/s329 / 1437 [---------------->________________________________________________________] 22.89% 85 p/s351 / 1437 [----------------->_______________________________________________________] 24.43% 85 p/s360 / 1437 [------------------>______________________________________________________] 25.05% 85 p/s379 / 1437 [------------------->_____________________________________________________] 26.37% 85 p/s401 / 1437 [-------------------->____________________________________________________] 27.91% 85 p/s423 / 1437 [--------------------->___________________________________________________] 29.44% 85 p/s445 / 1437 [---------------------->__________________________________________________] 30.97% 87 p/s467 / 1437 [----------------------->_________________________________________________] 32.50% 87 p/s490 / 1437 [------------------------>________________________________________________] 34.10% 87 p/s511 / 1437 [------------------------->_______________________________________________] 35.56% 88 p/s533 / 1437 [--------------------------->_____________________________________________] 37.09% 88 p/s556 / 1437 [---------------------------->____________________________________________] 38.69% 88 p/s578 / 1437 [----------------------------->___________________________________________] 40.22% 90 p/s600 / 1437 [------------------------------>__________________________________________] 41.75% 90 p/s622 / 1437 [------------------------------->_________________________________________] 43.28% 90 p/s645 / 1437 [-------------------------------->________________________________________] 44.89% 91 p/s667 / 1437 [--------------------------------->_______________________________________] 46.42% 91 p/s689 / 1437 [----------------------------------->_____________________________________] 47.95% 91 p/s711 / 1437 [------------------------------------>____________________________________] 49.48% 93 p/s733 / 1437 [------------------------------------->___________________________________] 51.01% 93 p/s755 / 1437 [-------------------------------------->__________________________________] 52.54% 93 p/s777 / 1437 [--------------------------------------->_________________________________] 54.07% 94 p/s799 / 1437 [---------------------------------------->________________________________] 55.60% 94 p/s820 / 1437 [----------------------------------------->_______________________________] 57.06% 94 p/s842 / 1437 [------------------------------------------>______________________________] 58.59% 95 p/s864 / 1437 [------------------------------------------->_____________________________] 60.13% 95 p/s886 / 1437 [--------------------------------------------->___________________________] 61.66% 95 p/s908 / 1437 [---------------------------------------------->__________________________] 63.19% 96 p/s930 / 1437 [----------------------------------------------->_________________________] 64.72% 96 p/s952 / 1437 [------------------------------------------------>________________________] 66.25% 96 p/s974 / 1437 [------------------------------------------------->_______________________] 67.78% 97 p/s996 / 1437 [-------------------------------------------------->______________________] 69.31% 97 p/s1017 / 1437 [-------------------------------------------------->_____________________] 70.77% 97 p/s1039 / 1437 [---------------------------------------------------->___________________] 72.30% 97 p/s1061 / 1437 [----------------------------------------------------->__________________] 73.83% 97 p/s1083 / 1437 [------------------------------------------------------>_________________] 75.37% 97 p/s1105 / 1437 [------------------------------------------------------->________________] 76.90% 98 p/s1127 / 1437 [-------------------------------------------------------->_______________] 78.43% 98 p/s1149 / 1437 [--------------------------------------------------------->______________] 79.96% 98 p/s1172 / 1437 [---------------------------------------------------------->_____________] 81.56% 99 p/s1194 / 1437 [----------------------------------------------------------->____________] 83.09% 99 p/s1216 / 1437 [------------------------------------------------------------>___________] 84.62% 99 p/s1238 / 1437 [------------------------------------------------------------->_________] 86.15% 100 p/s1260 / 1437 [-------------------------------------------------------------->________] 87.68% 100 p/s1283 / 1437 [--------------------------------------------------------------->_______] 89.28% 100 p/s1305 / 1437 [---------------------------------------------------------------->______] 90.81% 100 p/s1328 / 1437 [----------------------------------------------------------------->_____] 92.41% 100 p/s1350 / 1437 [------------------------------------------------------------------>____] 93.95% 100 p/s1373 / 1437 [------------------------------------------------------------------->___] 95.55% 101 p/s1395 / 1437 [-------------------------------------------------------------------->__] 97.08% 101 p/s1417 / 1437 [---------------------------------------------------------------------->] 98.61% 101 p/s1437 / 1437 [----------------------------------------------------------------------] 100.00% 109 p/s2026-07-29T04:49:47 - INFO: Parsing 1437 sonar sweeps from /working/dbcc6178-5ce9-cc58-4507-41bd5f09d3ba/tfd/output/SONAR/all-sweeps-info.csv...

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2026-07-29T04:50:40 - INFO: Writing sonar_raw.track.cbor
2026-07-29T04:51:00 - 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/dbcc6178-5ce9-cc58-4507-41bd5f09d3ba/dbcc6178-5ce9-cc58-4507-41bd5f09d3ba"
2026-07-29T04:51:01 - INFO: DataPrep 0.15.2a2
2026-07-29T04:51:01 - INFO: Prepared data will be output to /working/dbcc6178-5ce9-cc58-4507-41bd5f09d3ba/dbcc6178-5ce9-cc58-4507-41bd5f09d3ba/processing/data
2026-07-29T04:51:01 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-29T04:51:01 - deployment - INFO: Detected P3D version: P3D_1
2026-07-29T04:51:01 - INFO: Recording GUID: dbcc6178-5ce9-cc58-4507-41bd5f09d3ba
2026-07-29T04:51:01 - INFO: Preparing sonar data...
2026-07-29T04:51:01 - INFO: /working/dbcc6178-5ce9-cc58-4507-41bd5f09d3ba/dbcc6178-5ce9-cc58-4507-41bd5f09d3ba/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-29T04:51:02 - INFO: Sonar epoch is 2026-03-13 18:17:17.651546+00:00 (1773425837651546015)
2026-07-29T04:51:02 - INFO: Creating sonar sensor alignment track...
2026-07-29T04:51:02 - INFO: Using sonar rotation of 0.209440 radians for wedge mask
2026-07-29T04:51:02 - INFO: Using sonar digitizer
2026-07-29T04:51:02 - INFO: Sensor speed of sound is 1500 m/s
2026-07-29T04:51:02 - INFO: Sensor range is 0.794640 m
2026-07-29T04:51:02 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-29T04:51:02 - INFO: Scaled micrometres per sample is 2630.299931
2026-07-29T04:51:02 - INFO: Processing 1437 snapshot scans from 1437 source sweeps...
2026-07-29T04:51:02 - INFO: Processing sonar scans with 8 worker processes and chunksize 44

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2026-07-29T04:51:15 - INFO: Applying sonar temporal consistency...
2026-07-29T04:51:19 - INFO: Sonar temporal gap fill (window 2): 338507 points, 12374 candidate beams, filled 12212
2026-07-29T04:51:20 - INFO: Sonar temporal segment pruning (window 3): removed 154 segments, 2315 points
2026-07-29T04:51:22 - INFO: Prepared sonar data in 20.7566 s
2026-07-29T04:51:22 - INFO: No IMU data found
2026-07-29T04:51:22 - INFO: DataPrep took 0:00:20.936850
2026-07-29T04:51:22 - INFO: Extracted sonar data in 0:01:48.345485
2026-07-29T04:51:22 - INFO: MSIP3D took 0:01:48.731857