+ [ 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/1a63e554-5375-65f0-9ab5-57b6e4adc818
2026-07-29T04:51:14 - INFO: MSIP3D 0.2.11
2026-07-29T04:51:14 - INFO: P3D files will be output to /working/1a63e554-5375-65f0-9ab5-57b6e4adc818/1a63e554-5375-65f0-9ab5-57b6e4adc818
2026-07-29T04:51:14 - INFO: Found 10 TFD dictionary entries
2026-07-29T04:51:14 - INFO: Found TFD mission for 1726SS
2026-07-29T04:51:14 - INFO: Recording will be processed as MD
2026-07-29T04:51:14 - INFO: Copying assets JSON to output directory...
2026-07-29T04:51:14 - INFO: Preparing counter data...
2026-07-29T04:51:14 - INFO: Interpreting counter as imperial
2026-07-29T04:51:14 - INFO: Preparing size track from assets JSON...
2026-07-29T04:51:14 - INFO: Preparing shape track from assets JSON...
2026-07-29T04:51:14 - INFO: Preparing material track from assets JSON...
2026-07-29T04:51:14 - INFO: Prepared counter data in 0.0567 s
2026-07-29T04:51:14 - INFO: Extracting sonar data...
TFD path: /working/1a63e554-5375-65f0-9ab5-57b6e4adc818/tfd/1726SS.tfd
TFD path: /working/1a63e554-5375-65f0-9ab5-57b6e4adc818/tfd/output
Name: SONAR, Tag: 6012080331585573559
Name: CCTV, Tag: 4855215965616818755
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215965616818764
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 2012
21 / 2012 [>___________________________________________________________________________] 1.04% ? p/s42 / 2012 [->__________________________________________________________________________] 2.09% ? p/s64 / 2012 [-->_________________________________________________________________________] 3.18% ? p/s86 / 2012 [--->______________________________________________________________________] 4.27% 108 p/s108 / 2012 [--->_____________________________________________________________________] 5.37% 108 p/s130 / 2012 [---->____________________________________________________________________] 6.46% 108 p/s152 / 2012 [----->___________________________________________________________________] 7.55% 108 p/s174 / 2012 [------>__________________________________________________________________] 8.65% 108 p/s196 / 2012 [------->_________________________________________________________________] 9.74% 108 p/s216 / 2012 [------->________________________________________________________________] 10.74% 108 p/s239 / 2012 [-------->_______________________________________________________________] 11.88% 108 p/s260 / 2012 [--------->______________________________________________________________] 12.92% 108 p/s282 / 2012 [---------->_____________________________________________________________] 14.02% 108 p/s304 / 2012 [---------->_____________________________________________________________] 15.11% 108 p/s326 / 2012 [----------->____________________________________________________________] 16.20% 108 p/s349 / 2012 [------------>___________________________________________________________] 17.35% 109 p/s371 / 2012 [------------->__________________________________________________________] 18.44% 109 p/s394 / 2012 [-------------->_________________________________________________________] 19.58% 109 p/s416 / 2012 [-------------->_________________________________________________________] 20.68% 109 p/s438 / 2012 [--------------->________________________________________________________] 21.77% 109 p/s461 / 2012 [---------------->_______________________________________________________] 22.91% 109 p/s483 / 2012 [----------------->______________________________________________________] 24.01% 109 p/s505 / 2012 [------------------>_____________________________________________________] 25.10% 109 p/s528 / 2012 [------------------>_____________________________________________________] 26.24% 109 p/s551 / 2012 [------------------->____________________________________________________] 27.39% 109 p/s573 / 2012 [-------------------->___________________________________________________] 28.48% 109 p/s596 / 2012 [--------------------->__________________________________________________] 29.62% 109 p/s618 / 2012 [---------------------->_________________________________________________] 30.72% 109 p/s641 / 2012 [---------------------->_________________________________________________] 31.86% 109 p/s663 / 2012 [----------------------->________________________________________________] 32.95% 109 p/s686 / 2012 [------------------------>_______________________________________________] 34.10% 110 p/s709 / 2012 [------------------------->______________________________________________] 35.24% 110 p/s731 / 2012 [-------------------------->_____________________________________________] 36.33% 110 p/s753 / 2012 [-------------------------->_____________________________________________] 37.43% 110 p/s775 / 2012 [--------------------------->____________________________________________] 38.52% 110 p/s797 / 2012 [---------------------------->___________________________________________] 39.61% 110 p/s819 / 2012 [----------------------------->__________________________________________] 40.71% 110 p/s841 / 2012 [------------------------------>_________________________________________] 41.80% 110 p/s863 / 2012 [------------------------------>_________________________________________] 42.89% 110 p/s885 / 2012 [------------------------------->________________________________________] 43.99% 110 p/s907 / 2012 [-------------------------------->_______________________________________] 45.08% 110 p/s929 / 2012 [--------------------------------->______________________________________] 46.17% 110 p/s951 / 2012 [---------------------------------->_____________________________________] 47.27% 110 p/s972 / 2012 [---------------------------------->_____________________________________] 48.31% 110 p/s994 / 2012 [----------------------------------->____________________________________] 49.40% 110 p/s1016 / 2012 [----------------------------------->___________________________________] 50.50% 110 p/s1038 / 2012 [------------------------------------>__________________________________] 51.59% 110 p/s1060 / 2012 [------------------------------------->_________________________________] 52.68% 110 p/s1083 / 2012 [-------------------------------------->________________________________] 53.83% 110 p/s1105 / 2012 [-------------------------------------->________________________________] 54.92% 110 p/s1128 / 2012 [--------------------------------------->_______________________________] 56.06% 110 p/s1150 / 2012 [---------------------------------------->______________________________] 57.16% 110 p/s1172 / 2012 [----------------------------------------->_____________________________] 58.25% 110 p/s1195 / 2012 [------------------------------------------>____________________________] 59.39% 110 p/s1217 / 2012 [------------------------------------------>____________________________] 60.49% 110 p/s1240 / 2012 [------------------------------------------->___________________________] 61.63% 110 p/s1262 / 2012 [-------------------------------------------->__________________________] 62.72% 110 p/s1284 / 2012 [--------------------------------------------->_________________________] 63.82% 110 p/s1307 / 2012 [---------------------------------------------->________________________] 64.96% 110 p/s1329 / 2012 [---------------------------------------------->________________________] 66.05% 110 p/s1351 / 2012 [----------------------------------------------->_______________________] 67.15% 110 p/s1374 / 2012 [------------------------------------------------>______________________] 68.29% 110 p/s1396 / 2012 [------------------------------------------------->_____________________] 69.38% 110 p/s1418 / 2012 [-------------------------------------------------->____________________] 70.48% 110 p/s1440 / 2012 [-------------------------------------------------->____________________] 71.57% 110 p/s1462 / 2012 [--------------------------------------------------->___________________] 72.66% 110 p/s1485 / 2012 [---------------------------------------------------->__________________] 73.81% 110 p/s1507 / 2012 [----------------------------------------------------->_________________] 74.90% 110 p/s1529 / 2012 [----------------------------------------------------->_________________] 75.99% 110 p/s1551 / 2012 [------------------------------------------------------>________________] 77.09% 110 p/s1573 / 2012 [------------------------------------------------------->_______________] 78.18% 110 p/s1595 / 2012 [-------------------------------------------------------->______________] 79.27% 110 p/s1616 / 2012 [--------------------------------------------------------->_____________] 80.32% 110 p/s1639 / 2012 [--------------------------------------------------------->_____________] 81.46% 110 p/s1661 / 2012 [---------------------------------------------------------->____________] 82.55% 110 p/s1684 / 2012 [----------------------------------------------------------->___________] 83.70% 111 p/s1706 / 2012 [------------------------------------------------------------>__________] 84.79% 111 p/s1729 / 2012 [------------------------------------------------------------->_________] 85.93% 111 p/s1751 / 2012 [------------------------------------------------------------->_________] 87.03% 111 p/s1774 / 2012 [-------------------------------------------------------------->________] 88.17% 111 p/s1797 / 2012 [--------------------------------------------------------------->_______] 89.31% 111 p/s1819 / 2012 [---------------------------------------------------------------->______] 90.41% 111 p/s1842 / 2012 [----------------------------------------------------------------->_____] 91.55% 111 p/s1865 / 2012 [----------------------------------------------------------------->_____] 92.69% 111 p/s1887 / 2012 [------------------------------------------------------------------>____] 93.79% 111 p/s1909 / 2012 [------------------------------------------------------------------->___] 94.88% 111 p/s1932 / 2012 [-------------------------------------------------------------------->__] 96.02% 111 p/s1954 / 2012 [-------------------------------------------------------------------->__] 97.12% 111 p/s1977 / 2012 [--------------------------------------------------------------------->_] 98.26% 111 p/s1999 / 2012 [---------------------------------------------------------------------->] 99.35% 111 p/s2012 / 2012 [----------------------------------------------------------------------] 100.00% 112 p/s2026-07-29T04:51:32 - INFO: Parsing 2012 sonar sweeps from /working/1a63e554-5375-65f0-9ab5-57b6e4adc818/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/2012 [00:00<?, ?it/s]
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2026-07-29T04:52:47 - WARNING: Expected 400 beams, got 160, dropping sweep 2011
2026-07-29T04:52:47 - INFO: Writing sonar_raw.track.cbor
2026-07-29T04:53:15 - 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/1a63e554-5375-65f0-9ab5-57b6e4adc818/1a63e554-5375-65f0-9ab5-57b6e4adc818"
2026-07-29T04:53:16 - INFO: DataPrep 0.15.2a2
2026-07-29T04:53:16 - INFO: Prepared data will be output to /working/1a63e554-5375-65f0-9ab5-57b6e4adc818/1a63e554-5375-65f0-9ab5-57b6e4adc818/processing/data
2026-07-29T04:53:16 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-29T04:53:16 - deployment - INFO: Detected P3D version: P3D_1
2026-07-29T04:53:16 - INFO: Recording GUID: 1a63e554-5375-65f0-9ab5-57b6e4adc818
2026-07-29T04:53:16 - INFO: Preparing sonar data...
2026-07-29T04:53:16 - INFO: /working/1a63e554-5375-65f0-9ab5-57b6e4adc818/1a63e554-5375-65f0-9ab5-57b6e4adc818/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-29T04:53:17 - INFO: Sonar epoch is 2026-02-23 15:27:45.343647+00:00 (1771860465343647207)
2026-07-29T04:53:17 - INFO: Creating sonar sensor alignment track...
2026-07-29T04:53:17 - INFO: Using sonar rotation of 0.209440 radians for wedge mask
2026-07-29T04:53:18 - INFO: Using sonar digitizer
2026-07-29T04:53:18 - INFO: Sensor speed of sound is 1500 m/s
2026-07-29T04:53:18 - INFO: Sensor range is 0.939120 m
2026-07-29T04:53:18 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-29T04:53:18 - INFO: Scaled micrometres per sample is 3108.536247
2026-07-29T04:53:18 - INFO: Processing 2011 snapshot scans from 2011 source sweeps...
2026-07-29T04:53:18 - INFO: Processing sonar scans with 8 worker processes and chunksize 62

  0%|          | 0/2011 [00:00<?, ?scan/s]
  0%|          | 1/2011 [00:02<1:39:18,  2.96s/scan]
  3%|▎         | 63/2011 [00:03<01:25, 22.79scan/s] 
  6%|▌         | 125/2011 [00:04<00:41, 44.95scan/s]
  9%|▉         | 187/2011 [00:04<00:25, 71.19scan/s]
 12%|█▏        | 249/2011 [00:04<00:19, 91.32scan/s]
 15%|█▌        | 311/2011 [00:05<00:15, 108.87scan/s]
 19%|█▊        | 373/2011 [00:05<00:13, 123.58scan/s]
 22%|██▏       | 435/2011 [00:06<00:13, 115.31scan/s]
 25%|██▍       | 497/2011 [00:07<00:18, 83.52scan/s] 
 28%|██▊       | 559/2011 [00:07<00:15, 92.20scan/s]
 31%|███       | 621/2011 [00:08<00:12, 115.78scan/s]
 34%|███▍      | 683/2011 [00:08<00:08, 149.27scan/s]
 40%|████      | 807/2011 [00:09<00:08, 139.12scan/s]
 46%|████▋     | 931/2011 [00:10<00:08, 124.88scan/s]
 49%|████▉     | 993/2011 [00:11<00:09, 106.51scan/s]
 52%|█████▏    | 1055/2011 [00:11<00:09, 103.16scan/s]
 56%|█████▌    | 1117/2011 [00:12<00:07, 121.64scan/s]
 59%|█████▊    | 1179/2011 [00:12<00:06, 134.56scan/s]
 62%|██████▏   | 1241/2011 [00:12<00:06, 127.27scan/s]
 68%|██████▊   | 1365/2011 [00:13<00:03, 202.30scan/s]
 71%|███████   | 1427/2011 [00:14<00:04, 132.79scan/s]
 74%|███████▍  | 1489/2011 [00:15<00:04, 104.84scan/s]
 77%|███████▋  | 1551/2011 [00:16<00:05, 86.93scan/s] 
 83%|████████▎ | 1675/2011 [00:16<00:02, 141.88scan/s]
 85%|████████▌ | 1711/2011 [00:16<00:02, 149.10scan/s]
 88%|████████▊ | 1764/2011 [00:16<00:01, 131.48scan/s]
 94%|█████████▍| 1888/2011 [00:17<00:00, 167.56scan/s]
100%|██████████| 2011/2011 [00:17<00:00, 115.38scan/s]
2026-07-29T04:53:35 - INFO: Applying sonar temporal consistency...
2026-07-29T04:53:41 - INFO: Sonar temporal gap fill (window 2): 493585 points, 16259 candidate beams, filled 15715
2026-07-29T04:53:42 - INFO: Sonar temporal segment pruning (window 3): removed 321 segments, 4252 points
2026-07-29T04:53:45 - INFO: Prepared sonar data in 29.3309 s
2026-07-29T04:53:45 - INFO: No IMU data found
2026-07-29T04:53:45 - INFO: DataPrep took 0:00:29.573963
2026-07-29T04:53:45 - INFO: Extracted sonar data in 0:02:31.320580
2026-07-29T04:53:46 - INFO: MSIP3D took 0:02:31.935992