+ [ 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/b1e63b91-cadd-1c12-7ea9-dc593d61917c
2026-07-29T05:18:21 - INFO: MSIP3D 0.2.11
2026-07-29T05:18:21 - INFO: P3D files will be output to /working/b1e63b91-cadd-1c12-7ea9-dc593d61917c/b1e63b91-cadd-1c12-7ea9-dc593d61917c
2026-07-29T05:18:21 - INFO: Found 10 TFD dictionary entries
2026-07-29T05:18:21 - INFO: Found TFD mission for Line A
2026-07-29T05:18:21 - INFO: Recording will be processed as MD
2026-07-29T05:18:21 - INFO: Copying assets JSON to output directory...
2026-07-29T05:18:21 - INFO: Preparing counter data...
2026-07-29T05:18:21 - INFO: Interpreting counter as metric
2026-07-29T05:18:21 - INFO: Preparing size track from assets JSON...
2026-07-29T05:18:21 - INFO: Preparing shape track from assets JSON...
2026-07-29T05:18:21 - INFO: Preparing material track from assets JSON...
2026-07-29T05:18:21 - INFO: Prepared counter data in 0.0425 s
2026-07-29T05:18:21 - INFO: Extracting sonar data...
TFD path: /working/b1e63b91-cadd-1c12-7ea9-dc593d61917c/tfd/Line_A.tfd
TFD path: /working/b1e63b91-cadd-1c12-7ea9-dc593d61917c/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720643
Name: SONAR_SENSOR_DATA, Tag: 6012080310110734931
Name: Index, Tag: 5291276999180902239
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080310110737079
Getting track SONAR
Number of frames: 2002
21 / 2002 [>___________________________________________________________________________] 1.05% ? p/s41 / 2002 [->__________________________________________________________________________] 2.05% ? p/s61 / 2002 [-->_________________________________________________________________________] 3.05% ? p/s82 / 2002 [--->______________________________________________________________________] 4.10% 102 p/s104 / 2002 [--->_____________________________________________________________________] 5.19% 102 p/s125 / 2002 [---->____________________________________________________________________] 6.24% 102 p/s147 / 2002 [----->___________________________________________________________________] 7.34% 102 p/s168 / 2002 [------>__________________________________________________________________] 8.39% 102 p/s190 / 2002 [------>__________________________________________________________________] 9.49% 102 p/s211 / 2002 [------->________________________________________________________________] 10.54% 102 p/s232 / 2002 [-------->_______________________________________________________________] 11.59% 102 p/s253 / 2002 [--------->______________________________________________________________] 12.64% 102 p/s275 / 2002 [--------->______________________________________________________________] 13.74% 103 p/s296 / 2002 [---------->_____________________________________________________________] 14.79% 103 p/s318 / 2002 [----------->____________________________________________________________] 15.88% 103 p/s340 / 2002 [------------>___________________________________________________________] 16.98% 103 p/s362 / 2002 [------------->__________________________________________________________] 18.08% 103 p/s384 / 2002 [------------->__________________________________________________________] 19.18% 103 p/s406 / 2002 [-------------->_________________________________________________________] 20.28% 103 p/s427 / 2002 [--------------->________________________________________________________] 21.33% 103 p/s449 / 2002 [---------------->_______________________________________________________] 22.43% 103 p/s470 / 2002 [---------------->_______________________________________________________] 23.48% 104 p/s492 / 2002 [----------------->______________________________________________________] 24.58% 104 p/s513 / 2002 [------------------>_____________________________________________________] 25.62% 104 p/s534 / 2002 [------------------->____________________________________________________] 26.67% 104 p/s556 / 2002 [------------------->____________________________________________________] 27.77% 104 p/s577 / 2002 [-------------------->___________________________________________________] 28.82% 104 p/s599 / 2002 [--------------------->__________________________________________________] 29.92% 104 p/s621 / 2002 [---------------------->_________________________________________________] 31.02% 104 p/s642 / 2002 [----------------------->________________________________________________] 32.07% 104 p/s664 / 2002 [----------------------->________________________________________________] 33.17% 104 p/s686 / 2002 [------------------------>_______________________________________________] 34.27% 104 p/s708 / 2002 [------------------------->______________________________________________] 35.36% 104 p/s729 / 2002 [-------------------------->_____________________________________________] 36.41% 105 p/s750 / 2002 [-------------------------->_____________________________________________] 37.46% 105 p/s771 / 2002 [--------------------------->____________________________________________] 38.51% 105 p/s793 / 2002 [---------------------------->___________________________________________] 39.61% 105 p/s814 / 2002 [----------------------------->__________________________________________] 40.66% 105 p/s836 / 2002 [------------------------------>_________________________________________] 41.76% 105 p/s858 / 2002 [------------------------------>_________________________________________] 42.86% 105 p/s879 / 2002 [------------------------------->________________________________________] 43.91% 105 p/s901 / 2002 [-------------------------------->_______________________________________] 45.00% 105 p/s922 / 2002 [--------------------------------->______________________________________] 46.05% 105 p/s944 / 2002 [--------------------------------->______________________________________] 47.15% 105 p/s966 / 2002 [---------------------------------->_____________________________________] 48.25% 105 p/s988 / 2002 [----------------------------------->____________________________________] 49.35% 105 p/s1010 / 2002 [----------------------------------->___________________________________] 50.45% 105 p/s1031 / 2002 [------------------------------------>__________________________________] 51.50% 105 p/s1053 / 2002 [------------------------------------->_________________________________] 52.60% 106 p/s1075 / 2002 [-------------------------------------->________________________________] 53.70% 106 p/s1096 / 2002 [-------------------------------------->________________________________] 54.75% 106 p/s1118 / 2002 [--------------------------------------->_______________________________] 55.84% 106 p/s1140 / 2002 [---------------------------------------->______________________________] 56.94% 106 p/s1161 / 2002 [----------------------------------------->_____________________________] 57.99% 106 p/s1183 / 2002 [----------------------------------------->_____________________________] 59.09% 106 p/s1205 / 2002 [------------------------------------------>____________________________] 60.19% 106 p/s1227 / 2002 [------------------------------------------->___________________________] 61.29% 106 p/s1249 / 2002 [-------------------------------------------->__________________________] 62.39% 106 p/s1271 / 2002 [--------------------------------------------->_________________________] 63.49% 106 p/s1293 / 2002 [--------------------------------------------->_________________________] 64.59% 106 p/s1314 / 2002 [---------------------------------------------->________________________] 65.63% 106 p/s1336 / 2002 [----------------------------------------------->_______________________] 66.73% 106 p/s1357 / 2002 [------------------------------------------------>______________________] 67.78% 106 p/s1379 / 2002 [------------------------------------------------>______________________] 68.88% 106 p/s1401 / 2002 [------------------------------------------------->_____________________] 69.98% 106 p/s1422 / 2002 [-------------------------------------------------->____________________] 71.03% 106 p/s1445 / 2002 [--------------------------------------------------->___________________] 72.18% 107 p/s1466 / 2002 [--------------------------------------------------->___________________] 73.23% 107 p/s1487 / 2002 [---------------------------------------------------->__________________] 74.28% 107 p/s1508 / 2002 [----------------------------------------------------->_________________] 75.32% 107 p/s1530 / 2002 [------------------------------------------------------>________________] 76.42% 107 p/s1552 / 2002 [------------------------------------------------------->_______________] 77.52% 107 p/s1574 / 2002 [------------------------------------------------------->_______________] 78.62% 107 p/s1595 / 2002 [-------------------------------------------------------->______________] 79.67% 107 p/s1617 / 2002 [--------------------------------------------------------->_____________] 80.77% 107 p/s1639 / 2002 [---------------------------------------------------------->____________] 81.87% 107 p/s1661 / 2002 [---------------------------------------------------------->____________] 82.97% 107 p/s1682 / 2002 [----------------------------------------------------------->___________] 84.02% 107 p/s1703 / 2002 [------------------------------------------------------------>__________] 85.06% 107 p/s1725 / 2002 [------------------------------------------------------------->_________] 86.16% 107 p/s1747 / 2002 [------------------------------------------------------------->_________] 87.26% 107 p/s1768 / 2002 [-------------------------------------------------------------->________] 88.31% 107 p/s1790 / 2002 [--------------------------------------------------------------->_______] 89.41% 107 p/s1812 / 2002 [---------------------------------------------------------------->______] 90.51% 107 p/s1834 / 2002 [----------------------------------------------------------------->_____] 91.61% 107 p/s1855 / 2002 [----------------------------------------------------------------->_____] 92.66% 107 p/s1877 / 2002 [------------------------------------------------------------------>____] 93.76% 107 p/s1898 / 2002 [------------------------------------------------------------------->___] 94.81% 107 p/s1920 / 2002 [-------------------------------------------------------------------->__] 95.90% 107 p/s1942 / 2002 [-------------------------------------------------------------------->__] 97.00% 107 p/s1963 / 2002 [--------------------------------------------------------------------->_] 98.05% 107 p/s1985 / 2002 [---------------------------------------------------------------------->] 99.15% 107 p/s2002 / 2002 [----------------------------------------------------------------------] 100.00% 109 p/s2026-07-29T05:18:40 - INFO: Parsing 2002 sonar sweeps from /working/b1e63b91-cadd-1c12-7ea9-dc593d61917c/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/2002 [00:00<?, ?it/s]
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  1%|          | 21/2002 [00:00<01:12, 27.41it/s]
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  1%|▏         | 27/2002 [00:00<01:12, 27.36it/s]
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2026-07-29T05:19:59 - INFO: Writing sonar_raw.track.cbor
2026-07-29T05:20:28 - 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/b1e63b91-cadd-1c12-7ea9-dc593d61917c/b1e63b91-cadd-1c12-7ea9-dc593d61917c"
2026-07-29T05:20:29 - INFO: DataPrep 0.15.2a2
2026-07-29T05:20:29 - INFO: Prepared data will be output to /working/b1e63b91-cadd-1c12-7ea9-dc593d61917c/b1e63b91-cadd-1c12-7ea9-dc593d61917c/processing/data
2026-07-29T05:20:29 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-29T05:20:29 - deployment - INFO: Detected P3D version: P3D_1
2026-07-29T05:20:29 - INFO: Recording GUID: b1e63b91-cadd-1c12-7ea9-dc593d61917c
2026-07-29T05:20:29 - INFO: Preparing sonar data...
2026-07-29T05:20:29 - INFO: /working/b1e63b91-cadd-1c12-7ea9-dc593d61917c/b1e63b91-cadd-1c12-7ea9-dc593d61917c/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-29T05:20:31 - INFO: Sonar epoch is 2026-05-06 00:01:27.587822+00:00 (1778025687587822407)
2026-07-29T05:20:31 - INFO: Creating sonar sensor alignment track...
2026-07-29T05:20:31 - INFO: Using sonar rotation of 0.087266 radians for wedge mask
2026-07-29T05:20:31 - INFO: Using sonar digitizer
2026-07-29T05:20:31 - INFO: Sensor speed of sound is 1500 m/s
2026-07-29T05:20:31 - INFO: Sensor range is 0.794640 m
2026-07-29T05:20:31 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-29T05:20:31 - INFO: Scaled micrometres per sample is 2630.299931
2026-07-29T05:20:31 - INFO: Processing 2002 snapshot scans from 2002 source sweeps...
2026-07-29T05:20:31 - INFO: Processing sonar scans with 8 worker processes and chunksize 62

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2026-07-29T05:20:49 - INFO: Applying sonar temporal consistency...
2026-07-29T05:20:55 - INFO: Sonar temporal gap fill (window 2): 490940 points, 14704 candidate beams, filled 14447
2026-07-29T05:20:56 - INFO: Sonar temporal segment pruning (window 3): removed 134 segments, 1163 points
2026-07-29T05:20:59 - INFO: Prepared sonar data in 30.1014 s
2026-07-29T05:20:59 - INFO: No IMU data found
2026-07-29T05:20:59 - INFO: DataPrep took 0:00:30.350149
2026-07-29T05:20:59 - INFO: Extracted sonar data in 0:02:38.032072
2026-07-29T05:21:00 - INFO: MSIP3D took 0:02:38.607235