+ [ 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/eaea867d-008b-f5cf-8879-b575884ce28f
2026-07-29T04:49:59 - INFO: MSIP3D 0.2.11
2026-07-29T04:49:59 - INFO: P3D files will be output to /working/eaea867d-008b-f5cf-8879-b575884ce28f/eaea867d-008b-f5cf-8879-b575884ce28f
2026-07-29T04:49:59 - INFO: Found 10 TFD dictionary entries
2026-07-29T04:49:59 - INFO: Found TFD mission for 2490SS
2026-07-29T04:49:59 - INFO: Recording will be processed as MD
2026-07-29T04:49:59 - INFO: Copying assets JSON to output directory...
2026-07-29T04:49:59 - INFO: Preparing counter data...
2026-07-29T04:49:59 - INFO: Interpreting counter as imperial
2026-07-29T04:49:59 - INFO: Preparing size track from assets JSON...
2026-07-29T04:49:59 - INFO: Preparing shape track from assets JSON...
2026-07-29T04:49:59 - INFO: Preparing material track from assets JSON...
2026-07-29T04:49:59 - INFO: Prepared counter data in 0.0621 s
2026-07-29T04:49:59 - INFO: Extracting sonar data...
TFD path: /working/eaea867d-008b-f5cf-8879-b575884ce28f/tfd/2490SS.tfd
TFD path: /working/eaea867d-008b-f5cf-8879-b575884ce28f/tfd/output
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855215965616818755
Name: LASER, Tag: 4855215965616818764
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 1573
22 / 1573 [->__________________________________________________________________________] 1.40% ? p/s43 / 1573 [-->_________________________________________________________________________] 2.73% ? p/s65 / 1573 [--->________________________________________________________________________] 4.13% ? p/s86 / 1573 [---->_____________________________________________________________________] 5.47% 107 p/s108 / 1573 [----->___________________________________________________________________] 6.87% 107 p/s129 / 1573 [----->___________________________________________________________________] 8.20% 107 p/s151 / 1573 [------->_________________________________________________________________] 9.60% 107 p/s174 / 1573 [------->________________________________________________________________] 11.06% 107 p/s196 / 1573 [-------->_______________________________________________________________] 12.46% 107 p/s219 / 1573 [---------->_____________________________________________________________] 13.92% 107 p/s242 / 1573 [----------->____________________________________________________________] 15.38% 107 p/s263 / 1573 [------------>___________________________________________________________] 16.72% 107 p/s286 / 1573 [------------->__________________________________________________________] 18.18% 107 p/s308 / 1573 [-------------->_________________________________________________________] 19.58% 107 p/s330 / 1573 [--------------->________________________________________________________] 20.98% 107 p/s353 / 1573 [---------------->_______________________________________________________] 22.44% 108 p/s375 / 1573 [----------------->______________________________________________________] 23.84% 108 p/s397 / 1573 [------------------>_____________________________________________________] 25.24% 108 p/s419 / 1573 [------------------->____________________________________________________] 26.64% 108 p/s441 / 1573 [-------------------->___________________________________________________] 28.04% 108 p/s463 / 1573 [--------------------->__________________________________________________] 29.43% 108 p/s485 / 1573 [---------------------->_________________________________________________] 30.83% 108 p/s507 / 1573 [----------------------->________________________________________________] 32.23% 108 p/s529 / 1573 [------------------------>_______________________________________________] 33.63% 108 p/s551 / 1573 [------------------------->______________________________________________] 35.03% 108 p/s573 / 1573 [-------------------------->_____________________________________________] 36.43% 108 p/s595 / 1573 [--------------------------->____________________________________________] 37.83% 108 p/s617 / 1573 [---------------------------->___________________________________________] 39.22% 108 p/s639 / 1573 [----------------------------->__________________________________________] 40.62% 108 p/s661 / 1573 [------------------------------>_________________________________________] 42.02% 108 p/s683 / 1573 [------------------------------->________________________________________] 43.42% 108 p/s705 / 1573 [-------------------------------->_______________________________________] 44.82% 108 p/s727 / 1573 [--------------------------------->______________________________________] 46.22% 108 p/s749 / 1573 [---------------------------------->_____________________________________] 47.62% 108 p/s771 / 1573 [----------------------------------->____________________________________] 49.01% 108 p/s792 / 1573 [------------------------------------>___________________________________] 50.35% 108 p/s814 / 1573 [------------------------------------->__________________________________] 51.75% 108 p/s835 / 1573 [-------------------------------------->_________________________________] 53.08% 108 p/s856 / 1573 [--------------------------------------->________________________________] 54.42% 108 p/s878 / 1573 [---------------------------------------->_______________________________] 55.82% 108 p/s900 / 1573 [----------------------------------------->______________________________] 57.22% 108 p/s923 / 1573 [------------------------------------------>_____________________________] 58.68% 108 p/s945 / 1573 [------------------------------------------->____________________________] 60.08% 109 p/s967 / 1573 [-------------------------------------------->___________________________] 61.47% 109 p/s989 / 1573 [--------------------------------------------->__________________________] 62.87% 109 p/s1011 / 1573 [--------------------------------------------->_________________________] 64.27% 109 p/s1032 / 1573 [---------------------------------------------->________________________] 65.61% 109 p/s1054 / 1573 [----------------------------------------------->_______________________] 67.01% 109 p/s1076 / 1573 [------------------------------------------------>______________________] 68.40% 109 p/s1099 / 1573 [------------------------------------------------->_____________________] 69.87% 109 p/s1120 / 1573 [-------------------------------------------------->____________________] 71.20% 109 p/s1142 / 1573 [--------------------------------------------------->___________________] 72.60% 109 p/s1164 / 1573 [---------------------------------------------------->__________________] 74.00% 109 p/s1186 / 1573 [----------------------------------------------------->_________________] 75.40% 109 p/s1209 / 1573 [------------------------------------------------------>________________] 76.86% 109 p/s1231 / 1573 [------------------------------------------------------->_______________] 78.26% 109 p/s1253 / 1573 [-------------------------------------------------------->______________] 79.66% 109 p/s1274 / 1573 [--------------------------------------------------------->_____________] 80.99% 109 p/s1296 / 1573 [---------------------------------------------------------->____________] 82.39% 109 p/s1318 / 1573 [----------------------------------------------------------->___________] 83.79% 109 p/s1340 / 1573 [------------------------------------------------------------>__________] 85.19% 109 p/s1362 / 1573 [------------------------------------------------------------->_________] 86.59% 109 p/s1384 / 1573 [-------------------------------------------------------------->________] 87.98% 109 p/s1406 / 1573 [--------------------------------------------------------------->_______] 89.38% 109 p/s1428 / 1573 [---------------------------------------------------------------->______] 90.78% 109 p/s1450 / 1573 [----------------------------------------------------------------->_____] 92.18% 109 p/s1472 / 1573 [------------------------------------------------------------------>____] 93.58% 109 p/s1495 / 1573 [------------------------------------------------------------------->___] 95.04% 109 p/s1518 / 1573 [-------------------------------------------------------------------->__] 96.50% 109 p/s1540 / 1573 [--------------------------------------------------------------------->_] 97.90% 109 p/s1563 / 1573 [---------------------------------------------------------------------->] 99.36% 109 p/s1573 / 1573 [----------------------------------------------------------------------] 100.00% 112 p/s2026-07-29T04:50:13 - INFO: Parsing 1573 sonar sweeps from /working/eaea867d-008b-f5cf-8879-b575884ce28f/tfd/output/SONAR/all-sweeps-info.csv...

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2026-07-29T04:51:11 - WARNING: Expected 400 beams, got 181, dropping sweep 1572
2026-07-29T04:51:11 - INFO: Writing sonar_raw.track.cbor
2026-07-29T04:51:38 - 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/eaea867d-008b-f5cf-8879-b575884ce28f/eaea867d-008b-f5cf-8879-b575884ce28f"
2026-07-29T04:51:38 - INFO: DataPrep 0.15.2a2
2026-07-29T04:51:38 - INFO: Prepared data will be output to /working/eaea867d-008b-f5cf-8879-b575884ce28f/eaea867d-008b-f5cf-8879-b575884ce28f/processing/data
2026-07-29T04:51:38 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-29T04:51:38 - deployment - INFO: Detected P3D version: P3D_1
2026-07-29T04:51:38 - INFO: Recording GUID: eaea867d-008b-f5cf-8879-b575884ce28f
2026-07-29T04:51:38 - INFO: Preparing sonar data...
2026-07-29T04:51:38 - INFO: /working/eaea867d-008b-f5cf-8879-b575884ce28f/eaea867d-008b-f5cf-8879-b575884ce28f/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-29T04:51:39 - INFO: Sonar epoch is 2026-02-20 16:43:29.607919+00:00 (1771605809607919305)
2026-07-29T04:51:39 - INFO: Creating sonar sensor alignment track...
2026-07-29T04:51:39 - INFO: Using sonar rotation of 0.244346 radians for wedge mask
2026-07-29T04:51:39 - INFO: Using sonar digitizer
2026-07-29T04:51:39 - INFO: Sensor speed of sound is 1500 m/s
2026-07-29T04:51:39 - INFO: Sensor range is 0.722400 m
2026-07-29T04:51:39 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-29T04:51:39 - INFO: Scaled micrometres per sample is 2391.181774
2026-07-29T04:51:39 - INFO: Processing 1572 snapshot scans from 1572 source sweeps...
2026-07-29T04:51:39 - INFO: Processing sonar scans with 8 worker processes and chunksize 49

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2026-07-29T04:51:53 - INFO: Applying sonar temporal consistency...
2026-07-29T04:51:58 - INFO: Sonar temporal gap fill (window 2): 348842 points, 23152 candidate beams, filled 21941
2026-07-29T04:51:58 - INFO: Sonar temporal segment pruning (window 3): removed 128 segments, 1253 points
2026-07-29T04:52:01 - INFO: Prepared sonar data in 22.7316 s
2026-07-29T04:52:01 - INFO: No IMU data found
2026-07-29T04:52:01 - INFO: DataPrep took 0:00:22.925678
2026-07-29T04:52:01 - INFO: Extracted sonar data in 0:02:02.218474
2026-07-29T04:52:01 - INFO: MSIP3D took 0:02:02.656064