+ [ 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/54ed0cc0-4a0a-2802-9721-ceacbcf85df9
2026-07-29T04:55:04 - INFO: MSIP3D 0.2.11
2026-07-29T04:55:04 - INFO: P3D files will be output to /working/54ed0cc0-4a0a-2802-9721-ceacbcf85df9/54ed0cc0-4a0a-2802-9721-ceacbcf85df9
2026-07-29T04:55:04 - INFO: Found 11 TFD dictionary entries
2026-07-29T04:55:04 - INFO: Found TFD mission for 2376SS
2026-07-29T04:55:04 - INFO: Recording will be processed as SMD
2026-07-29T04:55:04 - INFO: Copying assets JSON to output directory...
2026-07-29T04:55:04 - INFO: Preparing counter data...
2026-07-29T04:55:04 - INFO: Interpreting counter as imperial
2026-07-29T04:55:04 - INFO: Preparing size track from assets JSON...
2026-07-29T04:55:04 - INFO: Preparing shape track from assets JSON...
2026-07-29T04:55:04 - INFO: Preparing material track from assets JSON...
2026-07-29T04:55:04 - INFO: Prepared counter data in 0.2157 s
2026-07-29T04:55:04 - INFO: Extracting sonar data...
TFD path: /working/54ed0cc0-4a0a-2802-9721-ceacbcf85df9/tfd/2376SS.tfd
TFD path: /working/54ed0cc0-4a0a-2802-9721-ceacbcf85df9/tfd/output
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: CCTV, Tag: 4855215978501720644
Name: Index, Tag: 5291276999180902239
Name: CCTV, Tag: 4855215978501720643
Name: LASER, Tag: 4855215978501720652
Getting track SONAR
Number of frames: 4816
18 / 4816 [>___________________________________________________________________________] 0.37% ? p/s36 / 4816 [>___________________________________________________________________________] 0.75% ? p/s56 / 4816 [>___________________________________________________________________________] 1.16% ? p/s73 / 4816 [->_________________________________________________________________________] 1.52% 92 p/s92 / 4816 [->_________________________________________________________________________] 1.91% 92 p/s108 / 4816 [->________________________________________________________________________] 2.24% 92 p/s127 / 4816 [->________________________________________________________________________] 2.64% 92 p/s145 / 4816 [-->_______________________________________________________________________] 3.01% 92 p/s164 / 4816 [-->_______________________________________________________________________] 3.41% 92 p/s184 / 4816 [-->_______________________________________________________________________] 3.82% 92 p/s203 / 4816 [--->______________________________________________________________________] 4.22% 92 p/s224 / 4816 [--->______________________________________________________________________] 4.65% 92 p/s244 / 4816 [--->______________________________________________________________________] 5.07% 92 p/s264 / 4816 [---->_____________________________________________________________________] 5.48% 92 p/s284 / 4816 [---->_____________________________________________________________________] 5.90% 92 p/s304 / 4816 [---->_____________________________________________________________________] 6.31% 93 p/s324 / 4816 [---->_____________________________________________________________________] 6.73% 93 p/s344 / 4816 [----->____________________________________________________________________] 7.14% 93 p/s364 / 4816 [----->____________________________________________________________________] 7.56% 93 p/s384 / 4816 [----->____________________________________________________________________] 7.97% 93 p/s404 / 4816 [------>___________________________________________________________________] 8.39% 93 p/s423 / 4816 [------>___________________________________________________________________] 8.78% 94 p/s443 / 4816 [------>___________________________________________________________________] 9.20% 94 p/s463 / 4816 [------->__________________________________________________________________] 9.61% 94 p/s483 / 4816 [------->_________________________________________________________________] 10.03% 94 p/s501 / 4816 [------->_________________________________________________________________] 10.40% 94 p/s518 / 4816 [------->_________________________________________________________________] 10.76% 94 p/s537 / 4816 [-------->________________________________________________________________] 11.15% 94 p/s556 / 4816 [-------->________________________________________________________________] 11.54% 94 p/s576 / 4816 [-------->________________________________________________________________] 11.96% 94 p/s596 / 4816 [--------->_______________________________________________________________] 12.38% 94 p/s615 / 4816 [--------->_______________________________________________________________] 12.77% 94 p/s635 / 4816 [--------->_______________________________________________________________] 13.19% 94 p/s655 / 4816 [--------->_______________________________________________________________] 13.60% 94 p/s675 / 4816 [---------->______________________________________________________________] 14.02% 94 p/s695 / 4816 [---------->______________________________________________________________] 14.43% 94 p/s715 / 4816 [---------->______________________________________________________________] 14.85% 95 p/s735 / 4816 [----------->_____________________________________________________________] 15.26% 95 p/s755 / 4816 [----------->_____________________________________________________________] 15.68% 95 p/s775 / 4816 [----------->_____________________________________________________________] 16.09% 95 p/s795 / 4816 [------------>____________________________________________________________] 16.51% 95 p/s815 / 4816 [------------>____________________________________________________________] 16.92% 95 p/s835 / 4816 [------------>____________________________________________________________] 17.34% 95 p/s855 / 4816 [------------>____________________________________________________________] 17.75% 95 p/s876 / 4816 [------------->___________________________________________________________] 18.19% 95 p/s896 / 4816 [------------->___________________________________________________________] 18.60% 96 p/s916 / 4816 [------------->___________________________________________________________] 19.02% 96 p/s936 / 4816 [-------------->__________________________________________________________] 19.44% 96 p/s956 / 4816 [-------------->__________________________________________________________] 19.85% 96 p/s976 / 4816 [-------------->__________________________________________________________] 20.27% 96 p/s996 / 4816 [--------------->_________________________________________________________] 20.68% 96 p/s1016 / 4816 [--------------->________________________________________________________] 21.10% 96 p/s1035 / 4816 [--------------->________________________________________________________] 21.49% 96 p/s1055 / 4816 [--------------->________________________________________________________] 21.91% 96 p/s1075 / 4816 [---------------->_______________________________________________________] 22.32% 96 p/s1095 / 4816 [---------------->_______________________________________________________] 22.74% 96 p/s1115 / 4816 [---------------->_______________________________________________________] 23.15% 96 p/s1135 / 4816 [---------------->_______________________________________________________] 23.57% 97 p/s1155 / 4816 [----------------->______________________________________________________] 23.98% 97 p/s1175 / 4816 [----------------->______________________________________________________] 24.40% 97 p/s1195 / 4816 [----------------->______________________________________________________] 24.81% 97 p/s1215 / 4816 [------------------>_____________________________________________________] 25.23% 97 p/s1235 / 4816 [------------------>_____________________________________________________] 25.64% 97 p/s1255 / 4816 [------------------>_____________________________________________________] 26.06% 97 p/s1275 / 4816 [------------------->____________________________________________________] 26.47% 97 p/s1296 / 4816 [------------------->____________________________________________________] 26.91% 97 p/s1316 / 4816 [------------------->____________________________________________________] 27.33% 97 p/s1336 / 4816 [------------------->____________________________________________________] 27.74% 97 p/s1356 / 4816 [-------------------->___________________________________________________] 28.16% 97 p/s1376 / 4816 [-------------------->___________________________________________________] 28.57% 98 p/s1396 / 4816 [-------------------->___________________________________________________] 28.99% 98 p/s1416 / 4816 [--------------------->__________________________________________________] 29.40% 98 p/s1436 / 4816 [--------------------->__________________________________________________] 29.82% 98 p/s1456 / 4816 [--------------------->__________________________________________________] 30.23% 98 p/s1476 / 4816 [---------------------->_________________________________________________] 30.65% 98 p/s1496 / 4816 [---------------------->_________________________________________________] 31.06% 98 p/s1516 / 4816 [---------------------->_________________________________________________] 31.48% 98 p/s1536 / 4816 [---------------------->_________________________________________________] 31.89% 98 p/s1557 / 4816 [----------------------->________________________________________________] 32.33% 98 p/s1577 / 4816 [----------------------->________________________________________________] 32.75% 98 p/s1597 / 4816 [----------------------->________________________________________________] 33.16% 98 p/s1617 / 4816 [------------------------>_______________________________________________] 33.58% 98 p/s1637 / 4816 [------------------------>_______________________________________________] 33.99% 98 p/s1657 / 4816 [------------------------>_______________________________________________] 34.41% 98 p/s1677 / 4816 [------------------------->______________________________________________] 34.82% 98 p/s1697 / 4816 [------------------------->______________________________________________] 35.24% 98 p/s1717 / 4816 [------------------------->______________________________________________] 35.65% 98 p/s1737 / 4816 [------------------------->______________________________________________] 36.07% 98 p/s1757 / 4816 [-------------------------->_____________________________________________] 36.48% 98 p/s1777 / 4816 [-------------------------->_____________________________________________] 36.90% 98 p/s1797 / 4816 [-------------------------->_____________________________________________] 37.31% 99 p/s1817 / 4816 [--------------------------->____________________________________________] 37.73% 99 p/s1837 / 4816 [--------------------------->____________________________________________] 38.14% 99 p/s1857 / 4816 [--------------------------->____________________________________________] 38.56% 99 p/s1877 / 4816 [---------------------------->___________________________________________] 38.97% 99 p/s1897 / 4816 [---------------------------->___________________________________________] 39.39% 99 p/s1917 / 4816 [---------------------------->___________________________________________] 39.80% 99 p/s1937 / 4816 [---------------------------->___________________________________________] 40.22% 99 p/s1957 / 4816 [----------------------------->__________________________________________] 40.64% 99 p/s1978 / 4816 [----------------------------->__________________________________________] 41.07% 99 p/s1998 / 4816 [----------------------------->__________________________________________] 41.49% 99 p/s2018 / 4816 [------------------------------>_________________________________________] 41.90% 99 p/s2038 / 4816 [------------------------------>_________________________________________] 42.32% 99 p/s2057 / 4816 [------------------------------>_________________________________________] 42.71% 99 p/s2077 / 4816 [------------------------------->________________________________________] 43.13% 99 p/s2097 / 4816 [------------------------------->________________________________________] 43.54% 99 p/s2117 / 4816 [------------------------------->________________________________________] 43.96% 99 p/s2137 / 4816 [------------------------------->________________________________________] 44.37% 99 p/s2157 / 4816 [-------------------------------->_______________________________________] 44.79% 99 p/s2178 / 4816 [-------------------------------->_______________________________________] 45.22% 99 p/s2198 / 4816 [-------------------------------->_______________________________________] 45.64% 99 p/s2218 / 4816 [--------------------------------->______________________________________] 46.05% 99 p/s2238 / 4816 [--------------------------------->______________________________________] 46.47% 99 p/s2258 / 4816 [--------------------------------->______________________________________] 46.89% 99 p/s2278 / 4816 [---------------------------------->_____________________________________] 47.30% 99 p/s2298 / 4816 [---------------------------------->_____________________________________] 47.72% 99 p/s2318 / 4816 [---------------------------------->_____________________________________] 48.13% 99 p/s2338 / 4816 [---------------------------------->_____________________________________] 48.55% 99 p/s2358 / 4816 [----------------------------------->____________________________________] 48.96% 99 p/s2377 / 4816 [----------------------------------->____________________________________] 49.36% 99 p/s2398 / 4816 [----------------------------------->____________________________________] 49.79% 99 p/s2418 / 4816 [------------------------------------>___________________________________] 50.21% 99 p/s2438 / 4816 [------------------------------------>___________________________________] 50.62% 99 p/s2458 / 4816 [------------------------------------>___________________________________] 51.04% 99 p/s2478 / 4816 [------------------------------------->__________________________________] 51.45% 99 p/s2498 / 4816 [------------------------------------->__________________________________] 51.87% 99 p/s2518 / 4816 [------------------------------------->__________________________________] 52.28% 99 p/s2538 / 4816 [------------------------------------->__________________________________] 52.70% 99 p/s2558 / 4816 [-------------------------------------->_________________________________] 53.11% 99 p/s2578 / 4816 [-------------------------------------->_________________________________] 53.53% 99 p/s2598 / 4816 [-------------------------------------->_________________________________] 53.95% 99 p/s2618 / 4816 [--------------------------------------->________________________________] 54.36% 99 p/s2638 / 4816 [--------------------------------------->________________________________] 54.78% 99 p/s2658 / 4816 [--------------------------------------->________________________________] 55.19% 99 p/s2678 / 4816 [---------------------------------------->_______________________________] 55.61% 99 p/s2698 / 4816 [--------------------------------------->_______________________________] 56.02% 100 p/s2718 / 4816 [---------------------------------------->______________________________] 56.44% 100 p/s2738 / 4816 [---------------------------------------->______________________________] 56.85% 100 p/s2758 / 4816 [---------------------------------------->______________________________] 57.27% 100 p/s2778 / 4816 [---------------------------------------->______________________________] 57.68% 100 p/s2798 / 4816 [----------------------------------------->_____________________________] 58.10% 100 p/s2818 / 4816 [----------------------------------------->_____________________________] 58.51% 100 p/s2838 / 4816 [----------------------------------------->_____________________________] 58.93% 100 p/s2858 / 4816 [------------------------------------------>____________________________] 59.34% 100 p/s2878 / 4816 [------------------------------------------>____________________________] 59.76% 100 p/s2898 / 4816 [------------------------------------------>____________________________] 60.17% 100 p/s2918 / 4816 [------------------------------------------->___________________________] 60.59% 100 p/s2938 / 4816 [------------------------------------------->___________________________] 61.00% 100 p/s2958 / 4816 [------------------------------------------->___________________________] 61.42% 100 p/s2978 / 4816 [------------------------------------------->___________________________] 61.84% 100 p/s2998 / 4816 [-------------------------------------------->__________________________] 62.25% 100 p/s3018 / 4816 [-------------------------------------------->__________________________] 62.67% 100 p/s3038 / 4816 [-------------------------------------------->__________________________] 63.08% 100 p/s3058 / 4816 [--------------------------------------------->_________________________] 63.50% 100 p/s3078 / 4816 [--------------------------------------------->_________________________] 63.91% 100 p/s3098 / 4816 [--------------------------------------------->_________________________] 64.33% 100 p/s3118 / 4816 [--------------------------------------------->_________________________] 64.74% 100 p/s3138 / 4816 [---------------------------------------------->________________________] 65.16% 100 p/s3158 / 4816 [---------------------------------------------->________________________] 65.57% 100 p/s3178 / 4816 [---------------------------------------------->________________________] 65.99% 100 p/s3198 / 4816 [----------------------------------------------->_______________________] 66.40% 100 p/s3218 / 4816 [----------------------------------------------->_______________________] 66.82% 100 p/s3238 / 4816 [----------------------------------------------->_______________________] 67.23% 100 p/s3258 / 4816 [------------------------------------------------>______________________] 67.65% 100 p/s3278 / 4816 [------------------------------------------------>______________________] 68.06% 100 p/s3298 / 4816 [------------------------------------------------>______________________] 68.48% 100 p/s3318 / 4816 [------------------------------------------------>______________________] 68.90% 100 p/s3338 / 4816 [------------------------------------------------->_____________________] 69.31% 100 p/s3358 / 4816 [------------------------------------------------->_____________________] 69.73% 100 p/s3378 / 4816 [------------------------------------------------->_____________________] 70.14% 100 p/s3398 / 4816 [-------------------------------------------------->____________________] 70.56% 100 p/s3418 / 4816 [-------------------------------------------------->____________________] 70.97% 100 p/s3438 / 4816 [-------------------------------------------------->____________________] 71.39% 100 p/s3458 / 4816 [-------------------------------------------------->____________________] 71.80% 100 p/s3478 / 4816 [--------------------------------------------------->___________________] 72.22% 100 p/s3498 / 4816 [--------------------------------------------------->___________________] 72.63% 100 p/s3518 / 4816 [--------------------------------------------------->___________________] 73.05% 100 p/s3538 / 4816 [---------------------------------------------------->__________________] 73.46% 100 p/s3558 / 4816 [---------------------------------------------------->__________________] 73.88% 100 p/s3578 / 4816 [---------------------------------------------------->__________________] 74.29% 100 p/s3597 / 4816 [----------------------------------------------------->_________________] 74.69% 100 p/s3617 / 4816 [----------------------------------------------------->_________________] 75.10% 100 p/s3637 / 4816 [----------------------------------------------------->_________________] 75.52% 100 p/s3657 / 4816 [----------------------------------------------------->_________________] 75.93% 100 p/s3677 / 4816 [------------------------------------------------------>________________] 76.35% 100 p/s3697 / 4816 [------------------------------------------------------>________________] 76.76% 100 p/s3717 / 4816 [------------------------------------------------------>________________] 77.18% 100 p/s3737 / 4816 [------------------------------------------------------->_______________] 77.60% 100 p/s3757 / 4816 [------------------------------------------------------->_______________] 78.01% 100 p/s3777 / 4816 [------------------------------------------------------->_______________] 78.43% 100 p/s3797 / 4816 [------------------------------------------------------->_______________] 78.84% 100 p/s3817 / 4816 [-------------------------------------------------------->______________] 79.26% 100 p/s3837 / 4816 [-------------------------------------------------------->______________] 79.67% 100 p/s3857 / 4816 [-------------------------------------------------------->______________] 80.09% 100 p/s3877 / 4816 [--------------------------------------------------------->_____________] 80.50% 100 p/s3897 / 4816 [--------------------------------------------------------->_____________] 80.92% 100 p/s3917 / 4816 [--------------------------------------------------------->_____________] 81.33% 100 p/s3938 / 4816 [---------------------------------------------------------->____________] 81.77% 100 p/s3957 / 4816 [---------------------------------------------------------->____________] 82.16% 100 p/s3978 / 4816 [---------------------------------------------------------->____________] 82.60% 100 p/s3998 / 4816 [---------------------------------------------------------->____________] 83.01% 100 p/s4018 / 4816 [----------------------------------------------------------->___________] 83.43% 100 p/s4037 / 4816 [----------------------------------------------------------->___________] 83.82% 100 p/s4057 / 4816 [----------------------------------------------------------->___________] 84.24% 100 p/s4077 / 4816 [------------------------------------------------------------>__________] 84.66% 100 p/s4097 / 4816 [------------------------------------------------------------>__________] 85.07% 100 p/s4117 / 4816 [------------------------------------------------------------>__________] 85.49% 100 p/s4137 / 4816 [------------------------------------------------------------>__________] 85.90% 100 p/s4157 / 4816 [------------------------------------------------------------->_________] 86.32% 100 p/s4177 / 4816 [------------------------------------------------------------->_________] 86.73% 100 p/s4197 / 4816 [------------------------------------------------------------->_________] 87.15% 100 p/s4217 / 4816 [-------------------------------------------------------------->________] 87.56% 100 p/s4237 / 4816 [-------------------------------------------------------------->________] 87.98% 100 p/s4257 / 4816 [-------------------------------------------------------------->________] 88.39% 100 p/s4277 / 4816 [--------------------------------------------------------------->_______] 88.81% 100 p/s4297 / 4816 [--------------------------------------------------------------->_______] 89.22% 100 p/s4317 / 4816 [--------------------------------------------------------------->_______] 89.64% 100 p/s4337 / 4816 [--------------------------------------------------------------->_______] 90.05% 100 p/s4357 / 4816 [---------------------------------------------------------------->______] 90.47% 100 p/s4377 / 4816 [---------------------------------------------------------------->______] 90.88% 100 p/s4397 / 4816 [---------------------------------------------------------------->______] 91.30% 100 p/s4417 / 4816 [----------------------------------------------------------------->_____] 91.72% 100 p/s4437 / 4816 [----------------------------------------------------------------->_____] 92.13% 100 p/s4457 / 4816 [----------------------------------------------------------------->_____] 92.55% 100 p/s4477 / 4816 [------------------------------------------------------------------>____] 92.96% 100 p/s4497 / 4816 [------------------------------------------------------------------>____] 93.38% 100 p/s4517 / 4816 [------------------------------------------------------------------>____] 93.79% 100 p/s4536 / 4816 [------------------------------------------------------------------>____] 94.19% 100 p/s4556 / 4816 [------------------------------------------------------------------->___] 94.60% 100 p/s4576 / 4816 [------------------------------------------------------------------->___] 95.02% 100 p/s4596 / 4816 [------------------------------------------------------------------->___] 95.43% 100 p/s4616 / 4816 [-------------------------------------------------------------------->__] 95.85% 100 p/s4636 / 4816 [-------------------------------------------------------------------->__] 96.26% 100 p/s4656 / 4816 [-------------------------------------------------------------------->__] 96.68% 100 p/s4676 / 4816 [-------------------------------------------------------------------->__] 97.09% 100 p/s4696 / 4816 [--------------------------------------------------------------------->_] 97.51% 100 p/s4716 / 4816 [--------------------------------------------------------------------->_] 97.92% 100 p/s4736 / 4816 [--------------------------------------------------------------------->_] 98.34% 100 p/s4756 / 4816 [---------------------------------------------------------------------->] 98.75% 100 p/s4776 / 4816 [---------------------------------------------------------------------->] 99.17% 100 p/s4796 / 4816 [---------------------------------------------------------------------->] 99.58% 100 p/s4815 / 4816 [---------------------------------------------------------------------->] 99.98% 100 p/s4816 / 4816 [----------------------------------------------------------------------] 100.00% 100 p/s2026-07-29T04:55:53 - INFO: Parsing 4816 sonar sweeps from /working/54ed0cc0-4a0a-2802-9721-ceacbcf85df9/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/4816 [00:00<?, ?it/s]
  0%|          | 3/4816 [00:00<03:16, 24.46it/s]
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  1%|          | 60/4816 [00:02<02:59, 26.47it/s]
  1%|▏         | 63/4816 [00:02<02:59, 26.52it/s]
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  1%|▏         | 69/4816 [00:02<03:03, 25.87it/s]
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  2%|▏         | 90/4816 [00:03<02:58, 26.43it/s]
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  2%|▏         | 111/4816 [00:04<02:57, 26.50it/s]
  2%|▏         | 114/4816 [00:04<02:58, 26.37it/s]
  2%|▏         | 117/4816 [00:04<02:57, 26.42it/s]
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  3%|▎         | 123/4816 [00:04<02:56, 26.52it/s]
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2026-07-29T04:59:00 - WARNING: Expected 400 beams, got 180, dropping sweep 4815
2026-07-29T04:59:00 - INFO: Writing sonar_raw.track.cbor
2026-07-29T05:00:19 - 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/54ed0cc0-4a0a-2802-9721-ceacbcf85df9/54ed0cc0-4a0a-2802-9721-ceacbcf85df9"
2026-07-29T05:00:19 - INFO: DataPrep 0.15.2a2
2026-07-29T05:00:19 - INFO: Prepared data will be output to /working/54ed0cc0-4a0a-2802-9721-ceacbcf85df9/54ed0cc0-4a0a-2802-9721-ceacbcf85df9/processing/data
2026-07-29T05:00:19 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-29T05:00:19 - deployment - INFO: Detected P3D version: P3D_1
2026-07-29T05:00:19 - INFO: Recording GUID: 54ed0cc0-4a0a-2802-9721-ceacbcf85df9
2026-07-29T05:00:19 - INFO: Preparing sonar data...
2026-07-29T05:00:19 - INFO: /working/54ed0cc0-4a0a-2802-9721-ceacbcf85df9/54ed0cc0-4a0a-2802-9721-ceacbcf85df9/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-29T05:00:23 - INFO: Sonar epoch is 2026-03-11 18:03:57.313438+00:00 (1773252237313438363)
2026-07-29T05:00:23 - INFO: Creating sonar sensor alignment track...
2026-07-29T05:00:23 - INFO: Using sonar rotation of -0.017453 radians for wedge mask
2026-07-29T05:00:23 - INFO: Using sonar digitizer
2026-07-29T05:00:23 - INFO: Sensor speed of sound is 1500 m/s
2026-07-29T05:00:23 - INFO: Sensor range is 1.589280 m
2026-07-29T05:00:23 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-29T05:00:23 - INFO: Scaled micrometres per sample is 5260.599863
2026-07-29T05:00:23 - INFO: Processing 4815 snapshot scans from 4815 source sweeps...
2026-07-29T05:00:23 - INFO: Processing sonar scans with 8 worker processes and chunksize 64

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2026-07-29T05:00:58 - INFO: Applying sonar temporal consistency...
2026-07-29T05:01:11 - INFO: Sonar temporal gap fill (window 2): 582137 points, 41986 candidate beams, filled 41985
2026-07-29T05:01:12 - INFO: Sonar temporal segment pruning (window 3): removed 211 segments, 1992 points
2026-07-29T05:01:16 - INFO: Prepared sonar data in 56.9028 s
2026-07-29T05:01:16 - INFO: No IMU data found
2026-07-29T05:01:17 - INFO: DataPrep took 0:00:57.375848
2026-07-29T05:01:17 - INFO: Extracted sonar data in 0:06:12.339038
2026-07-29T05:01:18 - INFO: MSIP3D took 0:06:13.549372