+ [ 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/d63d5fd5-3b00-6fda-2f35-d8dd3e8b41c9
2026-07-29T04:59:06 - INFO: MSIP3D 0.2.11
2026-07-29T04:59:06 - INFO: P3D files will be output to /working/d63d5fd5-3b00-6fda-2f35-d8dd3e8b41c9/d63d5fd5-3b00-6fda-2f35-d8dd3e8b41c9
2026-07-29T04:59:06 - INFO: Found 10 TFD dictionary entries
2026-07-29T04:59:06 - INFO: Found TFD mission for 1729SS
2026-07-29T04:59:06 - INFO: Recording will be processed as MD
2026-07-29T04:59:06 - INFO: Copying assets JSON to output directory...
2026-07-29T04:59:06 - INFO: Preparing counter data...
2026-07-29T04:59:06 - INFO: Interpreting counter as imperial
2026-07-29T04:59:07 - INFO: Preparing size track from assets JSON...
2026-07-29T04:59:07 - INFO: Preparing shape track from assets JSON...
2026-07-29T04:59:07 - INFO: Preparing material track from assets JSON...
2026-07-29T04:59:07 - INFO: Prepared counter data in 0.1523 s
2026-07-29T04:59:07 - INFO: Extracting sonar data...
TFD path: /working/d63d5fd5-3b00-6fda-2f35-d8dd3e8b41c9/tfd/1729SS.tfd
TFD path: /working/d63d5fd5-3b00-6fda-2f35-d8dd3e8b41c9/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: CCTV, Tag: 4855215965616818755
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: LASER, Tag: 4855215965616818764
Name: MISSION_FILE, Tag: 5073671569755687501
Getting track SONAR
Number of frames: 2583
13 / 2583 [>___________________________________________________________________________] 0.50% ? p/s28 / 2583 [>___________________________________________________________________________] 1.08% ? p/s41 / 2583 [->__________________________________________________________________________] 1.59% ? p/s55 / 2583 [->_________________________________________________________________________] 2.13% 70 p/s68 / 2583 [->_________________________________________________________________________] 2.63% 70 p/s82 / 2583 [-->________________________________________________________________________] 3.17% 70 p/s96 / 2583 [-->________________________________________________________________________] 3.72% 70 p/s108 / 2583 [--->______________________________________________________________________] 4.18% 70 p/s121 / 2583 [--->______________________________________________________________________] 4.68% 70 p/s136 / 2583 [--->______________________________________________________________________] 5.27% 70 p/s148 / 2583 [---->_____________________________________________________________________] 5.73% 70 p/s163 / 2583 [---->_____________________________________________________________________] 6.31% 70 p/s176 / 2583 [----->____________________________________________________________________] 6.81% 69 p/s189 / 2583 [----->____________________________________________________________________] 7.32% 69 p/s203 / 2583 [----->____________________________________________________________________] 7.86% 69 p/s216 / 2583 [------>___________________________________________________________________] 8.36% 69 p/s230 / 2583 [------>___________________________________________________________________] 8.90% 69 p/s244 / 2583 [------>___________________________________________________________________] 9.45% 69 p/s257 / 2583 [------->__________________________________________________________________] 9.95% 69 p/s271 / 2583 [------->_________________________________________________________________] 10.49% 69 p/s284 / 2583 [-------->________________________________________________________________] 10.99% 69 p/s297 / 2583 [-------->________________________________________________________________] 11.50% 69 p/s312 / 2583 [-------->________________________________________________________________] 12.08% 69 p/s326 / 2583 [--------->_______________________________________________________________] 12.62% 69 p/s339 / 2583 [--------->_______________________________________________________________] 13.12% 69 p/s354 / 2583 [---------->______________________________________________________________] 13.70% 69 p/s368 / 2583 [---------->______________________________________________________________] 14.25% 69 p/s381 / 2583 [---------->______________________________________________________________] 14.75% 69 p/s395 / 2583 [----------->_____________________________________________________________] 15.29% 69 p/s408 / 2583 [----------->_____________________________________________________________] 15.80% 69 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p/s559 / 2583 [--------------->_________________________________________________________] 21.64% 69 p/s572 / 2583 [---------------->________________________________________________________] 22.14% 69 p/s586 / 2583 [---------------->________________________________________________________] 22.69% 69 p/s600 / 2583 [---------------->________________________________________________________] 23.23% 69 p/s613 / 2583 [----------------->_______________________________________________________] 23.73% 69 p/s627 / 2583 [----------------->_______________________________________________________] 24.27% 69 p/s640 / 2583 [------------------>______________________________________________________] 24.78% 69 p/s654 / 2583 [------------------>______________________________________________________] 25.32% 69 p/s667 / 2583 [------------------>______________________________________________________] 25.82% 69 p/s680 / 2583 [------------------->_____________________________________________________] 26.33% 69 p/s694 / 2583 [------------------->_____________________________________________________] 26.87% 69 p/s708 / 2583 [-------------------->____________________________________________________] 27.41% 69 p/s721 / 2583 [-------------------->____________________________________________________] 27.91% 69 p/s737 / 2583 [-------------------->____________________________________________________] 28.53% 69 p/s750 / 2583 [--------------------->___________________________________________________] 29.04% 69 p/s763 / 2583 [--------------------->___________________________________________________] 29.54% 69 p/s778 / 2583 [--------------------->___________________________________________________] 30.12% 69 p/s791 / 2583 [---------------------->__________________________________________________] 30.62% 69 p/s804 / 2583 [---------------------->__________________________________________________] 31.13% 69 p/s820 / 2583 [----------------------->_________________________________________________] 31.75% 69 p/s834 / 2583 [----------------------->_________________________________________________] 32.29% 69 p/s850 / 2583 [------------------------>________________________________________________] 32.91% 69 p/s865 / 2583 [------------------------>________________________________________________] 33.49% 69 p/s880 / 2583 [------------------------>________________________________________________] 34.07% 69 p/s898 / 2583 [------------------------->_______________________________________________] 34.77% 69 p/s910 / 2583 [------------------------->_______________________________________________] 35.23% 69 p/s927 / 2583 [-------------------------->______________________________________________] 35.89% 70 p/s941 / 2583 [-------------------------->______________________________________________] 36.43% 70 p/s954 / 2583 [-------------------------->______________________________________________] 36.93% 70 p/s968 / 2583 [--------------------------->_____________________________________________] 37.48% 70 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p/s1256 / 2583 [----------------------------------->____________________________________] 48.63% 69 p/s1270 / 2583 [----------------------------------->____________________________________] 49.17% 69 p/s1284 / 2583 [----------------------------------->____________________________________] 49.71% 69 p/s1297 / 2583 [------------------------------------>___________________________________] 50.21% 69 p/s1312 / 2583 [------------------------------------>___________________________________] 50.79% 69 p/s1326 / 2583 [------------------------------------>___________________________________] 51.34% 69 p/s1340 / 2583 [------------------------------------->__________________________________] 51.88% 70 p/s1354 / 2583 [------------------------------------->__________________________________] 52.42% 70 p/s1367 / 2583 [-------------------------------------->_________________________________] 52.92% 70 p/s1381 / 2583 [-------------------------------------->_________________________________] 53.46% 69 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p/s1816 / 2583 [-------------------------------------------------->_____________________] 70.31% 70 p/s1830 / 2583 [--------------------------------------------------->____________________] 70.85% 70 p/s1843 / 2583 [--------------------------------------------------->____________________] 71.35% 70 p/s1856 / 2583 [--------------------------------------------------->____________________] 71.85% 70 p/s1870 / 2583 [---------------------------------------------------->___________________] 72.40% 70 p/s1883 / 2583 [---------------------------------------------------->___________________] 72.90% 69 p/s1897 / 2583 [---------------------------------------------------->___________________] 73.44% 69 p/s1912 / 2583 [----------------------------------------------------->__________________] 74.02% 69 p/s1925 / 2583 [----------------------------------------------------->__________________] 74.53% 70 p/s1939 / 2583 [------------------------------------------------------>_________________] 75.07% 70 p/s1953 / 2583 [------------------------------------------------------>_________________] 75.61% 70 p/s1966 / 2583 [------------------------------------------------------>_________________] 76.11% 69 p/s1979 / 2583 [------------------------------------------------------->________________] 76.62% 69 p/s1994 / 2583 [------------------------------------------------------->________________] 77.20% 69 p/s2014 / 2583 [-------------------------------------------------------->_______________] 77.97% 70 p/s2030 / 2583 [-------------------------------------------------------->_______________] 78.59% 70 p/s2044 / 2583 [-------------------------------------------------------->_______________] 79.13% 70 p/s2059 / 2583 [--------------------------------------------------------->______________] 79.71% 70 p/s2076 / 2583 [--------------------------------------------------------->______________] 80.37% 70 p/s2090 / 2583 [---------------------------------------------------------->_____________] 80.91% 70 p/s2103 / 2583 [---------------------------------------------------------->_____________] 81.42% 71 p/s2117 / 2583 [----------------------------------------------------------->____________] 81.96% 71 p/s2130 / 2583 [----------------------------------------------------------->____________] 82.46% 71 p/s2145 / 2583 [----------------------------------------------------------->____________] 83.04% 71 p/s2159 / 2583 [------------------------------------------------------------>___________] 83.58% 71 p/s2172 / 2583 [------------------------------------------------------------>___________] 84.09% 71 p/s2186 / 2583 [------------------------------------------------------------>___________] 84.63% 70 p/s2200 / 2583 [------------------------------------------------------------->__________] 85.17% 70 p/s2213 / 2583 [------------------------------------------------------------->__________] 85.68% 70 p/s2227 / 2583 [-------------------------------------------------------------->_________] 86.22% 70 p/s2241 / 2583 [-------------------------------------------------------------->_________] 86.76% 70 p/s2254 / 2583 [-------------------------------------------------------------->_________] 87.26% 70 p/s2267 / 2583 [--------------------------------------------------------------->________] 87.77% 70 p/s2281 / 2583 [--------------------------------------------------------------->________] 88.31% 70 p/s2295 / 2583 [--------------------------------------------------------------->________] 88.85% 70 p/s2313 / 2583 [---------------------------------------------------------------->_______] 89.55% 70 p/s2326 / 2583 [---------------------------------------------------------------->_______] 90.05% 70 p/s2340 / 2583 [----------------------------------------------------------------->______] 90.59% 70 p/s2353 / 2583 [----------------------------------------------------------------->______] 91.10% 70 p/s2369 / 2583 [------------------------------------------------------------------>_____] 91.72% 70 p/s2383 / 2583 [------------------------------------------------------------------>_____] 92.26% 70 p/s2396 / 2583 [------------------------------------------------------------------>_____] 92.76% 70 p/s2410 / 2583 [------------------------------------------------------------------->____] 93.30% 70 p/s2424 / 2583 [------------------------------------------------------------------->____] 93.84% 70 p/s2438 / 2583 [------------------------------------------------------------------->____] 94.39% 70 p/s2452 / 2583 [-------------------------------------------------------------------->___] 94.93% 70 p/s2466 / 2583 [-------------------------------------------------------------------->___] 95.47% 70 p/s2479 / 2583 [--------------------------------------------------------------------->__] 95.97% 70 p/s2493 / 2583 [--------------------------------------------------------------------->__] 96.52% 70 p/s2508 / 2583 [--------------------------------------------------------------------->__] 97.10% 70 p/s2521 / 2583 [---------------------------------------------------------------------->_] 97.60% 70 p/s2535 / 2583 [---------------------------------------------------------------------->_] 98.14% 70 p/s2549 / 2583 [----------------------------------------------------------------------->] 98.68% 70 p/s2562 / 2583 [----------------------------------------------------------------------->] 99.19% 70 p/s2576 / 2583 [----------------------------------------------------------------------->] 99.73% 70 p/s2583 / 2583 [-----------------------------------------------------------------------] 100.00% 70 p/s2026-07-29T04:59:44 - INFO: Parsing 2583 sonar sweeps from /working/d63d5fd5-3b00-6fda-2f35-d8dd3e8b41c9/tfd/output/SONAR/all-sweeps-info.csv...

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2026-07-29T05:01:20 - INFO: Writing sonar_raw.track.cbor
2026-07-29T05:01:57 - 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/d63d5fd5-3b00-6fda-2f35-d8dd3e8b41c9/d63d5fd5-3b00-6fda-2f35-d8dd3e8b41c9"
2026-07-29T05:01:58 - INFO: DataPrep 0.15.2a2
2026-07-29T05:01:58 - INFO: Prepared data will be output to /working/d63d5fd5-3b00-6fda-2f35-d8dd3e8b41c9/d63d5fd5-3b00-6fda-2f35-d8dd3e8b41c9/processing/data
2026-07-29T05:01:58 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-29T05:01:58 - deployment - INFO: Detected P3D version: P3D_1
2026-07-29T05:01:58 - INFO: Recording GUID: d63d5fd5-3b00-6fda-2f35-d8dd3e8b41c9
2026-07-29T05:01:58 - INFO: Preparing sonar data...
2026-07-29T05:01:58 - INFO: /working/d63d5fd5-3b00-6fda-2f35-d8dd3e8b41c9/d63d5fd5-3b00-6fda-2f35-d8dd3e8b41c9/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-29T05:02:00 - INFO: Sonar epoch is 2026-03-10 16:48:16.930644+00:00 (1773161296930643385)
2026-07-29T05:02:00 - INFO: Creating sonar sensor alignment track...
2026-07-29T05:02:00 - INFO: Using sonar rotation of 0.226893 radians for wedge mask
2026-07-29T05:02:00 - INFO: Using sonar digitizer
2026-07-29T05:02:00 - INFO: Sensor speed of sound is 1500 m/s
2026-07-29T05:02:00 - INFO: Sensor range is 0.939120 m
2026-07-29T05:02:00 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-29T05:02:00 - INFO: Scaled micrometres per sample is 3108.536247
2026-07-29T05:02:00 - INFO: Processing 2583 snapshot scans from 2583 source sweeps...
2026-07-29T05:02:00 - INFO: Processing sonar scans with 8 worker processes and chunksize 64

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2026-07-29T05:02:21 - INFO: Applying sonar temporal consistency...
2026-07-29T05:02:29 - INFO: Sonar temporal gap fill (window 2): 582887 points, 34405 candidate beams, filled 33768
2026-07-29T05:02:30 - INFO: Sonar temporal segment pruning (window 3): removed 116 segments, 1212 points
2026-07-29T05:02:34 - INFO: Prepared sonar data in 36.2394 s
2026-07-29T05:02:34 - INFO: No IMU data found
2026-07-29T05:02:34 - INFO: DataPrep took 0:00:36.557683
2026-07-29T05:02:35 - INFO: Extracted sonar data in 0:03:27.888135
2026-07-29T05:02:35 - INFO: MSIP3D took 0:03:28.738986