+ [ 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/5374e387-9562-9104-be28-f29093014db4
2026-07-29T04:50:47 - INFO: MSIP3D 0.2.11
2026-07-29T04:50:47 - INFO: P3D files will be output to /working/5374e387-9562-9104-be28-f29093014db4/5374e387-9562-9104-be28-f29093014db4
2026-07-29T04:50:47 - INFO: Found 10 TFD dictionary entries
2026-07-29T04:50:47 - INFO: Found TFD mission for 1717SS
2026-07-29T04:50:47 - INFO: Recording will be processed as MD
2026-07-29T04:50:47 - INFO: Copying assets JSON to output directory...
2026-07-29T04:50:47 - INFO: Preparing counter data...
2026-07-29T04:50:47 - INFO: Interpreting counter as imperial
2026-07-29T04:50:47 - INFO: Preparing size track from assets JSON...
2026-07-29T04:50:47 - INFO: Preparing shape track from assets JSON...
2026-07-29T04:50:47 - INFO: Preparing material track from assets JSON...
2026-07-29T04:50:47 - INFO: Prepared counter data in 0.0826 s
2026-07-29T04:50:47 - INFO: Extracting sonar data...
TFD path: /working/5374e387-9562-9104-be28-f29093014db4/tfd/1717SS.tfd
TFD path: /working/5374e387-9562-9104-be28-f29093014db4/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855215965616818764
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: CCTV, Tag: 4855215965616818755
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 2279
22 / 2279 [>___________________________________________________________________________] 0.97% ? p/s45 / 2279 [->__________________________________________________________________________] 1.97% ? p/s65 / 2279 [-->_________________________________________________________________________] 2.85% ? p/s88 / 2279 [-->_______________________________________________________________________] 3.86% 110 p/s110 / 2279 [--->_____________________________________________________________________] 4.83% 110 p/s132 / 2279 [---->____________________________________________________________________] 5.79% 110 p/s155 / 2279 [---->____________________________________________________________________] 6.80% 110 p/s178 / 2279 [----->___________________________________________________________________] 7.81% 110 p/s201 / 2279 [------>__________________________________________________________________] 8.82% 110 p/s224 / 2279 [------->_________________________________________________________________] 9.83% 110 p/s246 / 2279 [------->________________________________________________________________] 10.79% 110 p/s268 / 2279 [-------->_______________________________________________________________] 11.76% 110 p/s291 / 2279 [--------->______________________________________________________________] 12.77% 110 p/s314 / 2279 [--------->______________________________________________________________] 13.78% 110 p/s336 / 2279 [---------->_____________________________________________________________] 14.74% 110 p/s359 / 2279 [----------->____________________________________________________________] 15.75% 111 p/s381 / 2279 [------------>___________________________________________________________] 16.72% 111 p/s404 / 2279 [------------>___________________________________________________________] 17.73% 111 p/s426 / 2279 [------------->__________________________________________________________] 18.69% 111 p/s449 / 2279 [-------------->_________________________________________________________] 19.70% 111 p/s472 / 2279 [-------------->_________________________________________________________] 20.71% 111 p/s494 / 2279 [--------------->________________________________________________________] 21.68% 111 p/s516 / 2279 [---------------->_______________________________________________________] 22.64% 111 p/s538 / 2279 [---------------->_______________________________________________________] 23.61% 111 p/s561 / 2279 [----------------->______________________________________________________] 24.62% 111 p/s582 / 2279 [------------------>_____________________________________________________] 25.54% 111 p/s603 / 2279 [------------------->____________________________________________________] 26.46% 111 p/s625 / 2279 [------------------->____________________________________________________] 27.42% 111 p/s647 / 2279 [-------------------->___________________________________________________] 28.39% 111 p/s669 / 2279 [--------------------->__________________________________________________] 29.35% 111 p/s691 / 2279 [--------------------->__________________________________________________] 30.32% 111 p/s714 / 2279 [---------------------->_________________________________________________] 31.33% 111 p/s736 / 2279 [----------------------->________________________________________________] 32.29% 111 p/s757 / 2279 [----------------------->________________________________________________] 33.22% 111 p/s779 / 2279 [------------------------>_______________________________________________] 34.18% 111 p/s801 / 2279 [------------------------->______________________________________________] 35.15% 111 p/s823 / 2279 [-------------------------->_____________________________________________] 36.11% 111 p/s844 / 2279 [-------------------------->_____________________________________________] 37.03% 111 p/s866 / 2279 [--------------------------->____________________________________________] 38.00% 111 p/s888 / 2279 [---------------------------->___________________________________________] 38.96% 110 p/s908 / 2279 [---------------------------->___________________________________________] 39.84% 110 p/s912 / 2279 [---------------------------->___________________________________________] 40.02% 110 p/s935 / 2279 [----------------------------->__________________________________________] 41.03% 108 p/s957 / 2279 [------------------------------>_________________________________________] 41.99% 108 p/s979 / 2279 [------------------------------>_________________________________________] 42.96% 108 p/s1002 / 2279 [------------------------------->_______________________________________] 43.97% 109 p/s1024 / 2279 [------------------------------->_______________________________________] 44.93% 109 p/s1046 / 2279 [-------------------------------->______________________________________] 45.90% 109 p/s1069 / 2279 [--------------------------------->_____________________________________] 46.91% 109 p/s1092 / 2279 [---------------------------------->____________________________________] 47.92% 109 p/s1114 / 2279 [---------------------------------->____________________________________] 48.88% 109 p/s1136 / 2279 [----------------------------------->___________________________________] 49.85% 109 p/s1159 / 2279 [------------------------------------>__________________________________] 50.86% 109 p/s1182 / 2279 [------------------------------------>__________________________________] 51.86% 109 p/s1204 / 2279 [------------------------------------->_________________________________] 52.83% 109 p/s1227 / 2279 [-------------------------------------->________________________________] 53.84% 109 p/s1249 / 2279 [-------------------------------------->________________________________] 54.80% 109 p/s1271 / 2279 [--------------------------------------->_______________________________] 55.77% 109 p/s1294 / 2279 [---------------------------------------->______________________________] 56.78% 109 p/s1316 / 2279 [---------------------------------------->______________________________] 57.74% 109 p/s1338 / 2279 [----------------------------------------->_____________________________] 58.71% 110 p/s1361 / 2279 [------------------------------------------>____________________________] 59.72% 110 p/s1383 / 2279 [------------------------------------------->___________________________] 60.68% 110 p/s1405 / 2279 [------------------------------------------->___________________________] 61.65% 110 p/s1427 / 2279 [-------------------------------------------->__________________________] 62.62% 110 p/s1450 / 2279 [--------------------------------------------->_________________________] 63.62% 110 p/s1472 / 2279 [--------------------------------------------->_________________________] 64.59% 110 p/s1495 / 2279 [---------------------------------------------->________________________] 65.60% 110 p/s1516 / 2279 [----------------------------------------------->_______________________] 66.52% 110 p/s1536 / 2279 [----------------------------------------------->_______________________] 67.40% 110 p/s1559 / 2279 [------------------------------------------------>______________________] 68.41% 110 p/s1581 / 2279 [------------------------------------------------->_____________________] 69.37% 110 p/s1603 / 2279 [------------------------------------------------->_____________________] 70.34% 110 p/s1626 / 2279 [-------------------------------------------------->____________________] 71.35% 110 p/s1648 / 2279 [--------------------------------------------------->___________________] 72.31% 110 p/s1670 / 2279 [---------------------------------------------------->__________________] 73.28% 110 p/s1693 / 2279 [---------------------------------------------------->__________________] 74.29% 110 p/s1714 / 2279 [----------------------------------------------------->_________________] 75.21% 110 p/s1731 / 2279 [----------------------------------------------------->_________________] 75.95% 109 p/s1748 / 2279 [------------------------------------------------------>________________] 76.70% 109 p/s1764 / 2279 [------------------------------------------------------>________________] 77.40% 109 p/s1780 / 2279 [------------------------------------------------------->_______________] 78.10% 108 p/s1794 / 2279 [------------------------------------------------------->_______________] 78.72% 108 p/s1807 / 2279 [-------------------------------------------------------->______________] 79.29% 108 p/s1820 / 2279 [-------------------------------------------------------->______________] 79.86% 105 p/s1831 / 2279 [--------------------------------------------------------->_____________] 80.34% 105 p/s1844 / 2279 [--------------------------------------------------------->_____________] 80.91% 105 p/s1856 / 2279 [--------------------------------------------------------->_____________] 81.44% 102 p/s1869 / 2279 [---------------------------------------------------------->____________] 82.01% 102 p/s1881 / 2279 [---------------------------------------------------------->____________] 82.54% 102 p/s1893 / 2279 [----------------------------------------------------------->____________] 83.06% 99 p/s1904 / 2279 [------------------------------------------------------------>___________] 83.55% 99 p/s1917 / 2279 [------------------------------------------------------------>___________] 84.12% 99 p/s1929 / 2279 [------------------------------------------------------------>___________] 84.64% 97 p/s1942 / 2279 [------------------------------------------------------------->__________] 85.21% 97 p/s1956 / 2279 [------------------------------------------------------------->__________] 85.83% 97 p/s1972 / 2279 [-------------------------------------------------------------->_________] 86.53% 95 p/s1985 / 2279 [-------------------------------------------------------------->_________] 87.10% 95 p/s1998 / 2279 [--------------------------------------------------------------->________] 87.67% 95 p/s2011 / 2279 [--------------------------------------------------------------->________] 88.24% 93 p/s2023 / 2279 [--------------------------------------------------------------->________] 88.77% 93 p/s2037 / 2279 [---------------------------------------------------------------->_______] 89.38% 93 p/s2051 / 2279 [---------------------------------------------------------------->_______] 90.00% 92 p/s2063 / 2279 [----------------------------------------------------------------->______] 90.52% 92 p/s2080 / 2279 [----------------------------------------------------------------->______] 91.27% 92 p/s2095 / 2279 [------------------------------------------------------------------>_____] 91.93% 90 p/s2108 / 2279 [------------------------------------------------------------------>_____] 92.50% 90 p/s2123 / 2279 [------------------------------------------------------------------->____] 93.15% 90 p/s2136 / 2279 [------------------------------------------------------------------->____] 93.73% 89 p/s2149 / 2279 [------------------------------------------------------------------->____] 94.30% 89 p/s2161 / 2279 [-------------------------------------------------------------------->___] 94.82% 89 p/s2173 / 2279 [-------------------------------------------------------------------->___] 95.35% 87 p/s2186 / 2279 [--------------------------------------------------------------------->__] 95.92% 87 p/s2198 / 2279 [--------------------------------------------------------------------->__] 96.45% 87 p/s2210 / 2279 [--------------------------------------------------------------------->__] 96.97% 86 p/s2223 / 2279 [---------------------------------------------------------------------->_] 97.54% 86 p/s2236 / 2279 [---------------------------------------------------------------------->_] 98.11% 86 p/s2249 / 2279 [----------------------------------------------------------------------->] 98.68% 84 p/s2263 / 2279 [----------------------------------------------------------------------->] 99.30% 84 p/s2279 / 2279 [-----------------------------------------------------------------------] 100.00% 96 p/s2026-07-29T04:51:11 - INFO: Parsing 2279 sonar sweeps from /working/5374e387-9562-9104-be28-f29093014db4/tfd/output/SONAR/all-sweeps-info.csv...

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2026-07-29T04:52:36 - INFO: Writing sonar_raw.track.cbor
2026-07-29T04:53:09 - 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/5374e387-9562-9104-be28-f29093014db4/5374e387-9562-9104-be28-f29093014db4"
2026-07-29T04:53:09 - INFO: DataPrep 0.15.2a2
2026-07-29T04:53:09 - INFO: Prepared data will be output to /working/5374e387-9562-9104-be28-f29093014db4/5374e387-9562-9104-be28-f29093014db4/processing/data
2026-07-29T04:53:09 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-29T04:53:09 - deployment - INFO: Detected P3D version: P3D_1
2026-07-29T04:53:09 - INFO: Recording GUID: 5374e387-9562-9104-be28-f29093014db4
2026-07-29T04:53:09 - INFO: Preparing sonar data...
2026-07-29T04:53:09 - INFO: /working/5374e387-9562-9104-be28-f29093014db4/5374e387-9562-9104-be28-f29093014db4/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-29T04:53:11 - INFO: Sonar epoch is 2026-02-23 16:56:38.831213+00:00 (1771865798831213277)
2026-07-29T04:53:11 - INFO: Creating sonar sensor alignment track...
2026-07-29T04:53:11 - INFO: Using sonar rotation of 0.244346 radians for wedge mask
2026-07-29T04:53:11 - INFO: Using sonar digitizer
2026-07-29T04:53:11 - INFO: Sensor speed of sound is 1500 m/s
2026-07-29T04:53:11 - INFO: Sensor range is 0.939120 m
2026-07-29T04:53:11 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-29T04:53:11 - INFO: Scaled micrometres per sample is 3108.536247
2026-07-29T04:53:11 - INFO: Processing 2279 snapshot scans from 2279 source sweeps...
2026-07-29T04:53:11 - INFO: Processing sonar scans with 8 worker processes and chunksize 64

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2026-07-29T04:53:31 - INFO: Applying sonar temporal consistency...
2026-07-29T04:53:37 - INFO: Sonar temporal gap fill (window 2): 531349 points, 13188 candidate beams, filled 12671
2026-07-29T04:53:38 - INFO: Sonar temporal segment pruning (window 3): removed 238 segments, 3268 points
2026-07-29T04:53:42 - INFO: Prepared sonar data in 32.9245 s
2026-07-29T04:53:42 - INFO: No IMU data found
2026-07-29T04:53:42 - INFO: DataPrep took 0:00:33.203214
2026-07-29T04:53:42 - INFO: Extracted sonar data in 0:02:55.456019
2026-07-29T04:53:43 - INFO: MSIP3D took 0:02:56.115309