+ [ 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
+ [ smd = md ]
+ 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 --sonar-sample-offset -1 /working/2ec7c4cc-58ef-1243-c1eb-d532deadc16c
2026-07-29T05:01:15 - INFO: MSIP3D 0.2.11
2026-07-29T05:01:15 - INFO: P3D files will be output to /working/2ec7c4cc-58ef-1243-c1eb-d532deadc16c/2ec7c4cc-58ef-1243-c1eb-d532deadc16c
2026-07-29T05:01:15 - INFO: Found 11 TFD dictionary entries
2026-07-29T05:01:15 - INFO: Found TFD mission for 2291SS
2026-07-29T05:01:15 - INFO: Recording will be processed as SMD
2026-07-29T05:01:15 - INFO: Copying assets JSON to output directory...
2026-07-29T05:01:15 - INFO: Preparing counter data...
2026-07-29T05:01:15 - INFO: Interpreting counter as imperial
2026-07-29T05:01:15 - INFO: Preparing size track from assets JSON...
2026-07-29T05:01:15 - INFO: Preparing shape track from assets JSON...
2026-07-29T05:01:15 - INFO: Preparing material track from assets JSON...
2026-07-29T05:01:15 - INFO: Prepared counter data in 0.0941 s
2026-07-29T05:01:15 - INFO: Extracting sonar data...
TFD path: /working/2ec7c4cc-58ef-1243-c1eb-d532deadc16c/tfd/2291SS.tfd
TFD path: /working/2ec7c4cc-58ef-1243-c1eb-d532deadc16c/tfd/output
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: CCTV, Tag: 4855215978501720643
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720644
Getting track SONAR
Number of frames: 2170
19 / 2170 [>___________________________________________________________________________] 0.88% ? p/s38 / 2170 [->__________________________________________________________________________] 1.75% ? p/s57 / 2170 [->__________________________________________________________________________] 2.63% ? p/s76 / 2170 [-->________________________________________________________________________] 3.50% 95 p/s94 / 2170 [--->_______________________________________________________________________] 4.33% 95 p/s113 / 2170 [--->______________________________________________________________________] 5.21% 95 p/s130 / 2170 [---->_____________________________________________________________________] 5.99% 95 p/s150 / 2170 [----->____________________________________________________________________] 6.91% 95 p/s168 / 2170 [----->____________________________________________________________________] 7.74% 95 p/s187 / 2170 [------>___________________________________________________________________] 8.62% 95 p/s205 / 2170 [------>___________________________________________________________________] 9.45% 95 p/s225 / 2170 [------->_________________________________________________________________] 10.37% 95 p/s244 / 2170 [-------->________________________________________________________________] 11.24% 95 p/s263 / 2170 [-------->________________________________________________________________] 12.12% 95 p/s283 / 2170 [--------->_______________________________________________________________] 13.04% 95 p/s302 / 2170 [---------->______________________________________________________________] 13.92% 95 p/s322 / 2170 [---------->______________________________________________________________] 14.84% 95 p/s341 / 2170 [----------->_____________________________________________________________] 15.71% 95 p/s361 / 2170 [------------>____________________________________________________________] 16.64% 95 p/s381 / 2170 [------------>____________________________________________________________] 17.56% 95 p/s400 / 2170 [------------->___________________________________________________________] 18.43% 95 p/s420 / 2170 [-------------->__________________________________________________________] 19.35% 95 p/s440 / 2170 [-------------->__________________________________________________________] 20.28% 95 p/s459 / 2170 [--------------->_________________________________________________________] 21.15% 95 p/s479 / 2170 [---------------->________________________________________________________] 22.07% 95 p/s498 / 2170 [---------------->________________________________________________________] 22.95% 95 p/s517 / 2170 [----------------->_______________________________________________________] 23.82% 95 p/s537 / 2170 [------------------>______________________________________________________] 24.75% 96 p/s556 / 2170 [------------------>______________________________________________________] 25.62% 96 p/s576 / 2170 [------------------->_____________________________________________________] 26.54% 96 p/s596 / 2170 [-------------------->____________________________________________________] 27.47% 96 p/s615 / 2170 [-------------------->____________________________________________________] 28.34% 96 p/s635 / 2170 [--------------------->___________________________________________________] 29.26% 96 p/s655 / 2170 [---------------------->__________________________________________________] 30.18% 96 p/s674 / 2170 [---------------------->__________________________________________________] 31.06% 96 p/s694 / 2170 [----------------------->_________________________________________________] 31.98% 96 p/s714 / 2170 [------------------------>________________________________________________] 32.90% 96 p/s733 / 2170 [------------------------>________________________________________________] 33.78% 96 p/s753 / 2170 [------------------------->_______________________________________________] 34.70% 96 p/s773 / 2170 [-------------------------->______________________________________________] 35.62% 96 p/s793 / 2170 [-------------------------->______________________________________________] 36.54% 96 p/s812 / 2170 [--------------------------->_____________________________________________] 37.42% 96 p/s832 / 2170 [--------------------------->_____________________________________________] 38.34% 96 p/s852 / 2170 [---------------------------->____________________________________________] 39.26% 96 p/s872 / 2170 [----------------------------->___________________________________________] 40.18% 96 p/s891 / 2170 [----------------------------->___________________________________________] 41.06% 96 p/s911 / 2170 [------------------------------>__________________________________________] 41.98% 96 p/s931 / 2170 [------------------------------->_________________________________________] 42.90% 96 p/s950 / 2170 [------------------------------->_________________________________________] 43.78% 97 p/s970 / 2170 [-------------------------------->________________________________________] 44.70% 97 p/s990 / 2170 [--------------------------------->_______________________________________] 45.62% 97 p/s1009 / 2170 [--------------------------------->______________________________________] 46.50% 97 p/s1028 / 2170 [---------------------------------->_____________________________________] 47.37% 97 p/s1048 / 2170 [---------------------------------->_____________________________________] 48.29% 97 p/s1067 / 2170 [----------------------------------->____________________________________] 49.17% 97 p/s1087 / 2170 [------------------------------------>___________________________________] 50.09% 97 p/s1107 / 2170 [------------------------------------>___________________________________] 51.01% 97 p/s1126 / 2170 [------------------------------------->__________________________________] 51.89% 97 p/s1146 / 2170 [-------------------------------------->_________________________________] 52.81% 97 p/s1166 / 2170 [-------------------------------------->_________________________________] 53.73% 97 p/s1185 / 2170 [--------------------------------------->________________________________] 54.61% 97 p/s1205 / 2170 [--------------------------------------->________________________________] 55.53% 97 p/s1224 / 2170 [---------------------------------------->_______________________________] 56.41% 97 p/s1244 / 2170 [----------------------------------------->______________________________] 57.33% 97 p/s1264 / 2170 [----------------------------------------->______________________________] 58.25% 97 p/s1283 / 2170 [------------------------------------------>_____________________________] 59.12% 97 p/s1302 / 2170 [------------------------------------------->____________________________] 60.00% 97 p/s1322 / 2170 [------------------------------------------->____________________________] 60.92% 97 p/s1342 / 2170 [-------------------------------------------->___________________________] 61.84% 97 p/s1361 / 2170 [--------------------------------------------->__________________________] 62.72% 97 p/s1380 / 2170 [--------------------------------------------->__________________________] 63.59% 97 p/s1400 / 2170 [---------------------------------------------->_________________________] 64.52% 97 p/s1420 / 2170 [----------------------------------------------->________________________] 65.44% 97 p/s1439 / 2170 [----------------------------------------------->________________________] 66.31% 97 p/s1459 / 2170 [------------------------------------------------>_______________________] 67.24% 97 p/s1479 / 2170 [------------------------------------------------->______________________] 68.16% 97 p/s1498 / 2170 [------------------------------------------------->______________________] 69.03% 97 p/s1518 / 2170 [-------------------------------------------------->_____________________] 69.95% 97 p/s1537 / 2170 [-------------------------------------------------->_____________________] 70.83% 97 p/s1557 / 2170 [--------------------------------------------------->____________________] 71.75% 97 p/s1576 / 2170 [---------------------------------------------------->___________________] 72.63% 97 p/s1596 / 2170 [---------------------------------------------------->___________________] 73.55% 97 p/s1615 / 2170 [----------------------------------------------------->__________________] 74.42% 97 p/s1635 / 2170 [------------------------------------------------------>_________________] 75.35% 97 p/s1654 / 2170 [------------------------------------------------------>_________________] 76.22% 97 p/s1674 / 2170 [------------------------------------------------------->________________] 77.14% 97 p/s1693 / 2170 [-------------------------------------------------------->_______________] 78.02% 97 p/s1713 / 2170 [-------------------------------------------------------->_______________] 78.94% 97 p/s1733 / 2170 [--------------------------------------------------------->______________] 79.86% 97 p/s1752 / 2170 [---------------------------------------------------------->_____________] 80.74% 97 p/s1772 / 2170 [---------------------------------------------------------->_____________] 81.66% 97 p/s1791 / 2170 [----------------------------------------------------------->____________] 82.53% 97 p/s1811 / 2170 [------------------------------------------------------------>___________] 83.46% 97 p/s1831 / 2170 [------------------------------------------------------------>___________] 84.38% 97 p/s1850 / 2170 [------------------------------------------------------------->__________] 85.25% 97 p/s1870 / 2170 [-------------------------------------------------------------->_________] 86.18% 97 p/s1889 / 2170 [-------------------------------------------------------------->_________] 87.05% 97 p/s1909 / 2170 [--------------------------------------------------------------->________] 87.97% 97 p/s1929 / 2170 [---------------------------------------------------------------->_______] 88.89% 97 p/s1948 / 2170 [---------------------------------------------------------------->_______] 89.77% 97 p/s1967 / 2170 [----------------------------------------------------------------->______] 90.65% 97 p/s1987 / 2170 [----------------------------------------------------------------->______] 91.57% 97 p/s2006 / 2170 [------------------------------------------------------------------>_____] 92.44% 97 p/s2026 / 2170 [------------------------------------------------------------------->____] 93.36% 97 p/s2045 / 2170 [------------------------------------------------------------------->____] 94.24% 97 p/s2064 / 2170 [-------------------------------------------------------------------->___] 95.12% 97 p/s2084 / 2170 [--------------------------------------------------------------------->__] 96.04% 97 p/s2103 / 2170 [--------------------------------------------------------------------->__] 96.91% 97 p/s2123 / 2170 [---------------------------------------------------------------------->_] 97.83% 97 p/s2142 / 2170 [----------------------------------------------------------------------->] 98.71% 97 p/s2162 / 2170 [----------------------------------------------------------------------->] 99.63% 97 p/s2170 / 2170 [-----------------------------------------------------------------------] 100.00% 98 p/s2026-07-29T05:01:38 - INFO: Parsing 2170 sonar sweeps from /working/2ec7c4cc-58ef-1243-c1eb-d532deadc16c/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/2170 [00:00<?, ?it/s]
  0%|          | 3/2170 [00:00<01:29, 24.09it/s]
  0%|          | 6/2170 [00:00<01:27, 24.86it/s]
  0%|          | 9/2170 [00:00<01:27, 24.79it/s]
  1%|          | 12/2170 [00:00<01:25, 25.25it/s]
  1%|          | 15/2170 [00:00<01:24, 25.44it/s]
  1%|          | 18/2170 [00:00<01:23, 25.73it/s]
  1%|          | 21/2170 [00:00<01:22, 25.93it/s]
  1%|          | 24/2170 [00:00<01:22, 26.12it/s]
  1%|          | 27/2170 [00:01<01:21, 26.26it/s]
  1%|▏         | 30/2170 [00:01<01:21, 26.37it/s]
  2%|▏         | 33/2170 [00:01<01:20, 26.44it/s]
  2%|▏         | 36/2170 [00:01<01:20, 26.48it/s]
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  2%|▏         | 42/2170 [00:01<01:20, 26.52it/s]
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  2%|▏         | 48/2170 [00:01<01:20, 26.47it/s]
  2%|▏         | 51/2170 [00:01<01:20, 26.22it/s]
  2%|▏         | 54/2170 [00:02<01:20, 26.23it/s]
  3%|▎         | 57/2170 [00:02<01:20, 26.23it/s]
  3%|▎         | 60/2170 [00:02<01:20, 26.34it/s]
  3%|▎         | 63/2170 [00:02<01:19, 26.37it/s]
  3%|▎         | 66/2170 [00:02<01:19, 26.42it/s]
  3%|▎         | 69/2170 [00:02<01:19, 26.45it/s]
  3%|▎         | 72/2170 [00:02<01:19, 26.51it/s]
  3%|▎         | 75/2170 [00:02<01:18, 26.54it/s]
  4%|▎         | 78/2170 [00:02<01:18, 26.52it/s]
  4%|▎         | 81/2170 [00:03<01:18, 26.50it/s]
  4%|▍         | 84/2170 [00:03<01:18, 26.54it/s]
  4%|▍         | 87/2170 [00:03<01:18, 26.56it/s]
  4%|▍         | 90/2170 [00:03<01:18, 26.59it/s]
  4%|▍         | 93/2170 [00:03<01:18, 26.56it/s]
  4%|▍         | 96/2170 [00:03<01:18, 26.56it/s]
  5%|▍         | 99/2170 [00:03<01:18, 26.54it/s]
  5%|▍         | 102/2170 [00:03<01:17, 26.54it/s]
  5%|▍         | 105/2170 [00:03<01:18, 26.47it/s]
  5%|▍         | 108/2170 [00:04<01:17, 26.49it/s]
  5%|▌         | 111/2170 [00:04<01:17, 26.51it/s]
  5%|▌         | 114/2170 [00:04<01:17, 26.55it/s]
  5%|▌         | 117/2170 [00:04<01:17, 26.44it/s]
  6%|▌         | 120/2170 [00:04<01:17, 26.41it/s]
  6%|▌         | 123/2170 [00:04<01:17, 26.46it/s]
  6%|▌         | 126/2170 [00:04<01:17, 26.50it/s]
  6%|▌         | 129/2170 [00:04<01:17, 26.45it/s]
  6%|▌         | 132/2170 [00:05<01:17, 26.42it/s]
  6%|▌         | 135/2170 [00:05<01:16, 26.47it/s]
  6%|▋         | 138/2170 [00:05<01:16, 26.44it/s]
  6%|▋         | 141/2170 [00:05<01:19, 25.67it/s]
  7%|▋         | 144/2170 [00:05<01:18, 25.89it/s]
  7%|▋         | 147/2170 [00:05<01:17, 26.01it/s]
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  7%|▋         | 156/2170 [00:05<01:16, 26.19it/s]
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  7%|▋         | 162/2170 [00:06<01:16, 26.26it/s]
  8%|▊         | 165/2170 [00:06<01:16, 26.31it/s]
  8%|▊         | 168/2170 [00:06<01:15, 26.35it/s]
  8%|▊         | 171/2170 [00:06<01:15, 26.38it/s]
  8%|▊         | 174/2170 [00:06<01:15, 26.41it/s]
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  8%|▊         | 183/2170 [00:06<01:15, 26.27it/s]
  9%|▊         | 186/2170 [00:07<01:15, 26.29it/s]
  9%|▊         | 189/2170 [00:07<01:15, 26.30it/s]
  9%|▉         | 192/2170 [00:07<01:15, 26.35it/s]
  9%|▉         | 195/2170 [00:07<01:14, 26.41it/s]
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  9%|▉         | 204/2170 [00:07<01:14, 26.39it/s]
 10%|▉         | 207/2170 [00:07<01:14, 26.41it/s]
 10%|▉         | 210/2170 [00:07<01:14, 26.34it/s]
 10%|▉         | 213/2170 [00:08<01:14, 26.36it/s]
 10%|▉         | 216/2170 [00:08<01:14, 26.39it/s]
 10%|█         | 219/2170 [00:08<01:13, 26.44it/s]
 10%|█         | 222/2170 [00:08<01:16, 25.59it/s]
 10%|█         | 225/2170 [00:08<01:15, 25.76it/s]
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 11%|█         | 231/2170 [00:08<01:14, 26.13it/s]
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 11%|█         | 237/2170 [00:09<01:13, 26.20it/s]
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 11%|█▏        | 246/2170 [00:09<01:12, 26.36it/s]
 11%|█▏        | 249/2170 [00:09<01:12, 26.41it/s]
 12%|█▏        | 252/2170 [00:09<01:12, 26.44it/s]
 12%|█▏        | 255/2170 [00:09<01:12, 26.46it/s]
 12%|█▏        | 258/2170 [00:09<01:12, 26.42it/s]
 12%|█▏        | 261/2170 [00:09<01:12, 26.33it/s]
 12%|█▏        | 264/2170 [00:10<01:12, 26.23it/s]
 12%|█▏        | 267/2170 [00:10<01:12, 26.27it/s]
 12%|█▏        | 270/2170 [00:10<01:12, 26.31it/s]
 13%|█▎        | 273/2170 [00:10<01:15, 25.27it/s]
 13%|█▎        | 276/2170 [00:10<01:14, 25.54it/s]
 13%|█▎        | 279/2170 [00:10<01:13, 25.82it/s]
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 13%|█▎        | 285/2170 [00:10<01:12, 26.00it/s]
 13%|█▎        | 288/2170 [00:10<01:12, 26.08it/s]
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 14%|█▎        | 294/2170 [00:11<01:11, 26.21it/s]
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 14%|█▍        | 300/2170 [00:11<01:10, 26.37it/s]
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 14%|█▍        | 309/2170 [00:11<01:10, 26.32it/s]
 14%|█▍        | 312/2170 [00:11<01:10, 26.22it/s]
 15%|█▍        | 315/2170 [00:12<01:11, 26.01it/s]
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 17%|█▋        | 363/2170 [00:13<01:09, 25.99it/s]
 17%|█▋        | 366/2170 [00:13<01:09, 25.95it/s]
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 17%|█▋        | 372/2170 [00:14<01:09, 25.75it/s]
 17%|█▋        | 375/2170 [00:14<01:09, 25.72it/s]
 17%|█▋        | 378/2170 [00:14<01:09, 25.74it/s]
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 18%|█▊        | 384/2170 [00:14<01:10, 25.31it/s]
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 20%|█▉        | 432/2170 [00:16<01:06, 26.11it/s]
 20%|██        | 435/2170 [00:16<01:06, 26.19it/s]
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2026-07-29T05:03:07 - WARNING: Expected 400 beams, got 155, dropping sweep 2169
2026-07-29T05:03:07 - INFO: Writing sonar_raw.track.cbor
2026-07-29T05:03:44 - 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 /working/2ec7c4cc-58ef-1243-c1eb-d532deadc16c/2ec7c4cc-58ef-1243-c1eb-d532deadc16c"
2026-07-29T05:03:44 - INFO: DataPrep 0.15.2a2
2026-07-29T05:03:44 - INFO: Prepared data will be output to /working/2ec7c4cc-58ef-1243-c1eb-d532deadc16c/2ec7c4cc-58ef-1243-c1eb-d532deadc16c/processing/data
2026-07-29T05:03:44 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-29T05:03:44 - deployment - INFO: Detected P3D version: P3D_1
2026-07-29T05:03:44 - INFO: Recording GUID: 2ec7c4cc-58ef-1243-c1eb-d532deadc16c
2026-07-29T05:03:44 - INFO: Preparing sonar data...
2026-07-29T05:03:44 - INFO: /working/2ec7c4cc-58ef-1243-c1eb-d532deadc16c/2ec7c4cc-58ef-1243-c1eb-d532deadc16c/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-29T05:03:46 - INFO: Sonar epoch is 2026-03-13 15:19:58.275505+00:00 (1773415198275505293)
2026-07-29T05:03:46 - INFO: Creating sonar sensor alignment track...
2026-07-29T05:03:46 - INFO: Using sonar rotation of -0.034907 radians for wedge mask
2026-07-29T05:03:46 - INFO: Using sonar digitizer
2026-07-29T05:03:46 - INFO: Sensor speed of sound is 1500 m/s
2026-07-29T05:03:46 - INFO: Sensor range is 1.589280 m
2026-07-29T05:03:46 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-29T05:03:46 - INFO: Scaled micrometres per sample is 5260.599863
2026-07-29T05:03:46 - INFO: Processing 2169 snapshot scans from 2169 source sweeps...
2026-07-29T05:03:46 - INFO: Processing sonar scans with 8 worker processes and chunksize 64

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2026-07-29T05:04:04 - INFO: Applying sonar temporal consistency...
2026-07-29T05:04:10 - INFO: Sonar temporal gap fill (window 2): 315976 points, 26623 candidate beams, filled 26520
2026-07-29T05:04:10 - INFO: Sonar temporal segment pruning (window 3): removed 197 segments, 1992 points
2026-07-29T05:04:13 - INFO: Prepared sonar data in 28.4871 s
2026-07-29T05:04:13 - INFO: No IMU data found
2026-07-29T05:04:13 - INFO: DataPrep took 0:00:28.734402
2026-07-29T05:04:13 - INFO: Extracted sonar data in 0:02:57.671988
2026-07-29T05:04:14 - INFO: MSIP3D took 0:02:58.306118