+ [ 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/b795e2de-d6e5-0fa6-1e15-ce0a398506b8
2026-07-29T04:52:04 - INFO: MSIP3D 0.2.11
2026-07-29T04:52:05 - INFO: P3D files will be output to /working/b795e2de-d6e5-0fa6-1e15-ce0a398506b8/b795e2de-d6e5-0fa6-1e15-ce0a398506b8
2026-07-29T04:52:05 - INFO: Found 10 TFD dictionary entries
2026-07-29T04:52:05 - INFO: Found TFD mission for 2409SS
2026-07-29T04:52:05 - INFO: Recording will be processed as MD
2026-07-29T04:52:05 - INFO: Copying assets JSON to output directory...
2026-07-29T04:52:05 - INFO: Preparing counter data...
2026-07-29T04:52:05 - INFO: Interpreting counter as imperial
2026-07-29T04:52:05 - INFO: Preparing size track from assets JSON...
2026-07-29T04:52:05 - INFO: Preparing shape track from assets JSON...
2026-07-29T04:52:05 - INFO: Preparing material track from assets JSON...
2026-07-29T04:52:05 - INFO: Prepared counter data in 0.1581 s
2026-07-29T04:52:05 - INFO: Extracting sonar data...
TFD path: /working/b795e2de-d6e5-0fa6-1e15-ce0a398506b8/tfd/2409SS.tfd
TFD path: /working/b795e2de-d6e5-0fa6-1e15-ce0a398506b8/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: CCTV, Tag: 4855215965616818755
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: LASER, Tag: 4855215965616818764
Name: Index, Tag: 5291276999180902239
Getting track SONAR
Number of frames: 4149
22 / 4149 [>___________________________________________________________________________] 0.53% ? p/s44 / 4149 [>___________________________________________________________________________] 1.06% ? p/s67 / 4149 [->__________________________________________________________________________] 1.61% ? p/s89 / 4149 [->________________________________________________________________________] 2.15% 112 p/s112 / 4149 [->_______________________________________________________________________] 2.70% 112 p/s131 / 4149 [-->______________________________________________________________________] 3.16% 112 p/s153 / 4149 [-->______________________________________________________________________] 3.69% 111 p/s176 / 4149 [--->_____________________________________________________________________] 4.24% 111 p/s198 / 4149 [--->_____________________________________________________________________] 4.77% 111 p/s221 / 4149 [--->_____________________________________________________________________] 5.33% 111 p/s243 / 4149 [---->____________________________________________________________________] 5.86% 111 p/s265 / 4149 [---->____________________________________________________________________] 6.39% 111 p/s288 / 4149 [----->___________________________________________________________________] 6.94% 112 p/s310 / 4149 [----->___________________________________________________________________] 7.47% 112 p/s333 / 4149 [----->___________________________________________________________________] 8.03% 112 p/s355 / 4149 [------>__________________________________________________________________] 8.56% 112 p/s378 / 4149 [------>__________________________________________________________________] 9.11% 112 p/s400 / 4149 [------->_________________________________________________________________] 9.64% 112 p/s423 / 4149 [------->________________________________________________________________] 10.20% 112 p/s445 / 4149 [------->________________________________________________________________] 10.73% 112 p/s467 / 4149 [-------->_______________________________________________________________] 11.26% 112 p/s489 / 4149 [-------->_______________________________________________________________] 11.79% 112 p/s510 / 4149 [-------->_______________________________________________________________] 12.29% 112 p/s533 / 4149 [--------->______________________________________________________________] 12.85% 112 p/s555 / 4149 [--------->______________________________________________________________] 13.38% 111 p/s577 / 4149 [---------->_____________________________________________________________] 13.91% 111 p/s600 / 4149 [---------->_____________________________________________________________] 14.46% 111 p/s622 / 4149 [---------->_____________________________________________________________] 14.99% 111 p/s644 / 4149 [----------->____________________________________________________________] 15.52% 111 p/s667 / 4149 [----------->____________________________________________________________] 16.08% 111 p/s689 / 4149 [----------->____________________________________________________________] 16.61% 111 p/s711 / 4149 [------------>___________________________________________________________] 17.14% 111 p/s734 / 4149 [------------>___________________________________________________________] 17.69% 111 p/s756 / 4149 [------------->__________________________________________________________] 18.22% 111 p/s778 / 4149 [------------->__________________________________________________________] 18.75% 111 p/s801 / 4149 [------------->__________________________________________________________] 19.31% 111 p/s823 / 4149 [-------------->_________________________________________________________] 19.84% 111 p/s845 / 4149 [-------------->_________________________________________________________] 20.37% 111 p/s867 / 4149 [--------------->________________________________________________________] 20.90% 111 p/s890 / 4149 [--------------->________________________________________________________] 21.45% 111 p/s912 / 4149 [--------------->________________________________________________________] 21.98% 111 p/s934 / 4149 [---------------->_______________________________________________________] 22.51% 111 p/s956 / 4149 [---------------->_______________________________________________________] 23.04% 111 p/s978 / 4149 [---------------->_______________________________________________________] 23.57% 111 p/s1001 / 4149 [----------------->_____________________________________________________] 24.13% 111 p/s1022 / 4149 [----------------->_____________________________________________________] 24.63% 111 p/s1044 / 4149 [----------------->_____________________________________________________] 25.16% 111 p/s1067 / 4149 [------------------>____________________________________________________] 25.72% 111 p/s1089 / 4149 [------------------>____________________________________________________] 26.25% 111 p/s1111 / 4149 [------------------->___________________________________________________] 26.78% 111 p/s1133 / 4149 [------------------->___________________________________________________] 27.31% 111 p/s1156 / 4149 [------------------->___________________________________________________] 27.86% 111 p/s1178 / 4149 [-------------------->__________________________________________________] 28.39% 111 p/s1200 / 4149 [-------------------->__________________________________________________] 28.92% 111 p/s1223 / 4149 [-------------------->__________________________________________________] 29.48% 111 p/s1245 / 4149 [--------------------->_________________________________________________] 30.01% 111 p/s1268 / 4149 [--------------------->_________________________________________________] 30.56% 111 p/s1290 / 4149 [---------------------->________________________________________________] 31.09% 111 p/s1312 / 4149 [---------------------->________________________________________________] 31.62% 111 p/s1335 / 4149 [---------------------->________________________________________________] 32.18% 111 p/s1357 / 4149 [----------------------->_______________________________________________] 32.71% 111 p/s1379 / 4149 [----------------------->_______________________________________________] 33.24% 111 p/s1402 / 4149 [----------------------->_______________________________________________] 33.79% 111 p/s1424 / 4149 [------------------------>______________________________________________] 34.32% 111 p/s1447 / 4149 [------------------------>______________________________________________] 34.88% 111 p/s1469 / 4149 [------------------------->_____________________________________________] 35.41% 111 p/s1492 / 4149 [------------------------->_____________________________________________] 35.96% 112 p/s1514 / 4149 [------------------------->_____________________________________________] 36.49% 112 p/s1536 / 4149 [-------------------------->____________________________________________] 37.02% 112 p/s1558 / 4149 [-------------------------->____________________________________________] 37.55% 111 p/s1580 / 4149 [--------------------------->___________________________________________] 38.08% 111 p/s1603 / 4149 [--------------------------->___________________________________________] 38.64% 111 p/s1625 / 4149 [--------------------------->___________________________________________] 39.17% 111 p/s1647 / 4149 [---------------------------->__________________________________________] 39.70% 111 p/s1670 / 4149 [---------------------------->__________________________________________] 40.25% 111 p/s1692 / 4149 [---------------------------->__________________________________________] 40.78% 111 p/s1714 / 4149 [----------------------------->_________________________________________] 41.31% 111 p/s1737 / 4149 [----------------------------->_________________________________________] 41.87% 111 p/s1759 / 4149 [------------------------------>________________________________________] 42.40% 111 p/s1781 / 4149 [------------------------------>________________________________________] 42.93% 111 p/s1804 / 4149 [------------------------------>________________________________________] 43.48% 111 p/s1826 / 4149 [------------------------------->_______________________________________] 44.01% 112 p/s1848 / 4149 [------------------------------->_______________________________________] 44.54% 112 p/s1870 / 4149 [-------------------------------->______________________________________] 45.07% 112 p/s1892 / 4149 [-------------------------------->______________________________________] 45.60% 111 p/s1915 / 4149 [-------------------------------->______________________________________] 46.16% 111 p/s1937 / 4149 [--------------------------------->_____________________________________] 46.69% 111 p/s1959 / 4149 [--------------------------------->_____________________________________] 47.22% 111 p/s1981 / 4149 [--------------------------------->_____________________________________] 47.75% 111 p/s2003 / 4149 [---------------------------------->____________________________________] 48.28% 111 p/s2026 / 4149 [---------------------------------->____________________________________] 48.83% 111 p/s2048 / 4149 [----------------------------------->___________________________________] 49.36% 111 p/s2070 / 4149 [----------------------------------->___________________________________] 49.89% 111 p/s2092 / 4149 [----------------------------------->___________________________________] 50.42% 111 p/s2115 / 4149 [------------------------------------>__________________________________] 50.98% 111 p/s2137 / 4149 [------------------------------------>__________________________________] 51.51% 111 p/s2159 / 4149 [------------------------------------>__________________________________] 52.04% 111 p/s2182 / 4149 [------------------------------------->_________________________________] 52.59% 111 p/s2204 / 4149 [------------------------------------->_________________________________] 53.12% 111 p/s2226 / 4149 [-------------------------------------->________________________________] 53.65% 111 p/s2249 / 4149 [-------------------------------------->________________________________] 54.21% 111 p/s2271 / 4149 [-------------------------------------->________________________________] 54.74% 111 p/s2293 / 4149 [--------------------------------------->_______________________________] 55.27% 111 p/s2316 / 4149 [--------------------------------------->_______________________________] 55.82% 111 p/s2338 / 4149 [---------------------------------------->______________________________] 56.35% 111 p/s2360 / 4149 [---------------------------------------->______________________________] 56.88% 111 p/s2383 / 4149 [---------------------------------------->______________________________] 57.44% 111 p/s2405 / 4149 [----------------------------------------->_____________________________] 57.97% 111 p/s2427 / 4149 [----------------------------------------->_____________________________] 58.50% 111 p/s2450 / 4149 [----------------------------------------->_____________________________] 59.05% 111 p/s2472 / 4149 [------------------------------------------>____________________________] 59.58% 111 p/s2494 / 4149 [------------------------------------------>____________________________] 60.11% 111 p/s2517 / 4149 [------------------------------------------->___________________________] 60.67% 111 p/s2539 / 4149 [------------------------------------------->___________________________] 61.20% 111 p/s2561 / 4149 [------------------------------------------->___________________________] 61.73% 111 p/s2583 / 4149 [-------------------------------------------->__________________________] 62.26% 111 p/s2606 / 4149 [-------------------------------------------->__________________________] 62.81% 111 p/s2628 / 4149 [-------------------------------------------->__________________________] 63.34% 111 p/s2650 / 4149 [--------------------------------------------->_________________________] 63.87% 111 p/s2673 / 4149 [--------------------------------------------->_________________________] 64.43% 111 p/s2695 / 4149 [---------------------------------------------->________________________] 64.96% 111 p/s2717 / 4149 [---------------------------------------------->________________________] 65.49% 111 p/s2739 / 4149 [---------------------------------------------->________________________] 66.02% 111 p/s2762 / 4149 [----------------------------------------------->_______________________] 66.57% 111 p/s2784 / 4149 [----------------------------------------------->_______________________] 67.10% 111 p/s2806 / 4149 [------------------------------------------------>______________________] 67.63% 111 p/s2829 / 4149 [------------------------------------------------>______________________] 68.19% 112 p/s2851 / 4149 [------------------------------------------------>______________________] 68.72% 112 p/s2873 / 4149 [------------------------------------------------->_____________________] 69.25% 112 p/s2896 / 4149 [------------------------------------------------->_____________________] 69.80% 112 p/s2918 / 4149 [------------------------------------------------->_____________________] 70.33% 112 p/s2940 / 4149 [-------------------------------------------------->____________________] 70.86% 112 p/s2962 / 4149 [-------------------------------------------------->____________________] 71.39% 111 p/s2984 / 4149 [--------------------------------------------------->___________________] 71.92% 111 p/s3007 / 4149 [--------------------------------------------------->___________________] 72.48% 111 p/s3029 / 4149 [--------------------------------------------------->___________________] 73.01% 111 p/s3051 / 4149 [---------------------------------------------------->__________________] 73.54% 111 p/s3073 / 4149 [---------------------------------------------------->__________________] 74.07% 111 p/s3096 / 4149 [---------------------------------------------------->__________________] 74.62% 111 p/s3118 / 4149 [----------------------------------------------------->_________________] 75.15% 111 p/s3140 / 4149 [----------------------------------------------------->_________________] 75.68% 111 p/s3162 / 4149 [------------------------------------------------------>________________] 76.21% 111 p/s3184 / 4149 [------------------------------------------------------>________________] 76.74% 111 p/s3207 / 4149 [------------------------------------------------------>________________] 77.30% 111 p/s3229 / 4149 [------------------------------------------------------->_______________] 77.83% 111 p/s3251 / 4149 [------------------------------------------------------->_______________] 78.36% 111 p/s3273 / 4149 [-------------------------------------------------------->______________] 78.89% 111 p/s3296 / 4149 [-------------------------------------------------------->______________] 79.44% 111 p/s3318 / 4149 [-------------------------------------------------------->______________] 79.97% 111 p/s3340 / 4149 [--------------------------------------------------------->_____________] 80.50% 111 p/s3363 / 4149 [--------------------------------------------------------->_____________] 81.06% 111 p/s3385 / 4149 [--------------------------------------------------------->_____________] 81.59% 111 p/s3407 / 4149 [---------------------------------------------------------->____________] 82.12% 111 p/s3429 / 4149 [---------------------------------------------------------->____________] 82.65% 111 p/s3452 / 4149 [----------------------------------------------------------->___________] 83.20% 111 p/s3474 / 4149 [----------------------------------------------------------->___________] 83.73% 111 p/s3496 / 4149 [----------------------------------------------------------->___________] 84.26% 111 p/s3518 / 4149 [------------------------------------------------------------>__________] 84.79% 111 p/s3541 / 4149 [------------------------------------------------------------>__________] 85.35% 111 p/s3563 / 4149 [------------------------------------------------------------>__________] 85.88% 111 p/s3585 / 4149 [------------------------------------------------------------->_________] 86.41% 111 p/s3607 / 4149 [------------------------------------------------------------->_________] 86.94% 111 p/s3630 / 4149 [-------------------------------------------------------------->________] 87.49% 111 p/s3652 / 4149 [-------------------------------------------------------------->________] 88.02% 111 p/s3675 / 4149 [-------------------------------------------------------------->________] 88.58% 111 p/s3697 / 4149 [--------------------------------------------------------------->_______] 89.11% 111 p/s3720 / 4149 [--------------------------------------------------------------->_______] 89.66% 111 p/s3742 / 4149 [---------------------------------------------------------------->______] 90.19% 111 p/s3764 / 4149 [---------------------------------------------------------------->______] 90.72% 111 p/s3787 / 4149 [---------------------------------------------------------------->______] 91.28% 111 p/s3810 / 4149 [----------------------------------------------------------------->_____] 91.83% 111 p/s3832 / 4149 [----------------------------------------------------------------->_____] 92.36% 112 p/s3854 / 4149 [----------------------------------------------------------------->_____] 92.89% 112 p/s3877 / 4149 [------------------------------------------------------------------>____] 93.44% 112 p/s3900 / 4149 [------------------------------------------------------------------>____] 94.00% 112 p/s3922 / 4149 [------------------------------------------------------------------->___] 94.53% 112 p/s3945 / 4149 [------------------------------------------------------------------->___] 95.08% 112 p/s3967 / 4149 [------------------------------------------------------------------->___] 95.61% 112 p/s3990 / 4149 [-------------------------------------------------------------------->__] 96.17% 112 p/s4012 / 4149 [-------------------------------------------------------------------->__] 96.70% 112 p/s4034 / 4149 [--------------------------------------------------------------------->_] 97.23% 112 p/s4057 / 4149 [--------------------------------------------------------------------->_] 97.78% 112 p/s4080 / 4149 [--------------------------------------------------------------------->_] 98.34% 112 p/s4102 / 4149 [---------------------------------------------------------------------->] 98.87% 112 p/s4124 / 4149 [---------------------------------------------------------------------->] 99.40% 112 p/s4146 / 4149 [---------------------------------------------------------------------->] 99.93% 112 p/s4149 / 4149 [----------------------------------------------------------------------] 100.00% 112 p/s2026-07-29T04:52:42 - INFO: Parsing 4149 sonar sweeps from /working/b795e2de-d6e5-0fa6-1e15-ce0a398506b8/tfd/output/SONAR/all-sweeps-info.csv...

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2026-07-29T04:55:14 - WARNING: Expected 400 beams, got 198, dropping sweep 4148
2026-07-29T04:55:14 - INFO: Writing sonar_raw.track.cbor
2026-07-29T04:56:14 - 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/b795e2de-d6e5-0fa6-1e15-ce0a398506b8/b795e2de-d6e5-0fa6-1e15-ce0a398506b8"
2026-07-29T04:56:14 - INFO: DataPrep 0.15.2a2
2026-07-29T04:56:14 - INFO: Prepared data will be output to /working/b795e2de-d6e5-0fa6-1e15-ce0a398506b8/b795e2de-d6e5-0fa6-1e15-ce0a398506b8/processing/data
2026-07-29T04:56:14 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-29T04:56:14 - deployment - INFO: Detected P3D version: P3D_1
2026-07-29T04:56:14 - INFO: Recording GUID: b795e2de-d6e5-0fa6-1e15-ce0a398506b8
2026-07-29T04:56:14 - INFO: Preparing sonar data...
2026-07-29T04:56:14 - INFO: /working/b795e2de-d6e5-0fa6-1e15-ce0a398506b8/b795e2de-d6e5-0fa6-1e15-ce0a398506b8/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-29T04:56:18 - INFO: Sonar epoch is 2026-03-09 15:33:50.366696+00:00 (1773070430366696420)
2026-07-29T04:56:18 - INFO: Creating sonar sensor alignment track...
2026-07-29T04:56:18 - INFO: Using sonar rotation of 0.226893 radians for wedge mask
2026-07-29T04:56:18 - INFO: Using sonar digitizer
2026-07-29T04:56:18 - INFO: Sensor speed of sound is 1500 m/s
2026-07-29T04:56:18 - INFO: Sensor range is 0.794640 m
2026-07-29T04:56:18 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-29T04:56:18 - INFO: Scaled micrometres per sample is 2630.299931
2026-07-29T04:56:18 - INFO: Processing 4148 snapshot scans from 4148 source sweeps...
2026-07-29T04:56:18 - INFO: Processing sonar scans with 8 worker processes and chunksize 64

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2026-07-29T04:56:50 - INFO: Applying sonar temporal consistency...
2026-07-29T04:57:02 - INFO: Sonar temporal gap fill (window 2): 942375 points, 52406 candidate beams, filled 51817
2026-07-29T04:57:04 - INFO: Sonar temporal segment pruning (window 3): removed 69 segments, 375 points
2026-07-29T04:57:10 - INFO: Prepared sonar data in 56.2392 s
2026-07-29T04:57:10 - INFO: No IMU data found
2026-07-29T04:57:11 - INFO: DataPrep took 0:00:56.754202
2026-07-29T04:57:11 - INFO: Extracted sonar data in 0:05:06.034045
2026-07-29T04:57:12 - INFO: MSIP3D took 0:05:07.366262