+ [ 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/d2402dff-7066-1228-2979-935ad7a727b8
2026-07-29T05:17:46 - INFO: MSIP3D 0.2.11
2026-07-29T05:17:46 - INFO: P3D files will be output to /working/d2402dff-7066-1228-2979-935ad7a727b8/d2402dff-7066-1228-2979-935ad7a727b8
2026-07-29T05:17:46 - INFO: Found 10 TFD dictionary entries
2026-07-29T05:17:46 - INFO: Found TFD mission for Line B
2026-07-29T05:17:46 - INFO: Recording will be processed as MD
2026-07-29T05:17:46 - INFO: Copying assets JSON to output directory...
2026-07-29T05:17:46 - INFO: Preparing counter data...
2026-07-29T05:17:46 - INFO: Interpreting counter as metric
2026-07-29T05:17:46 - INFO: Preparing size track from assets JSON...
2026-07-29T05:17:46 - INFO: Preparing shape track from assets JSON...
2026-07-29T05:17:46 - INFO: Preparing material track from assets JSON...
2026-07-29T05:17:46 - INFO: Prepared counter data in 0.0272 s
2026-07-29T05:17:46 - INFO: Extracting sonar data...
TFD path: /working/d2402dff-7066-1228-2979-935ad7a727b8/tfd/Line_B_001.tfd
TFD path: /working/d2402dff-7066-1228-2979-935ad7a727b8/tfd/output
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855215978501720652
Name: SONAR_SENSOR_DATA, Tag: 6012080310110734931
Name: CCTV, Tag: 4855215978501720643
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Name: SONAR, Tag: 6012080310110737079
Getting track SONAR
Number of frames: 1329
21 / 1329 [->__________________________________________________________________________] 1.58% ? p/s42 / 1329 [-->_________________________________________________________________________] 3.16% ? p/s61 / 1329 [--->________________________________________________________________________] 4.59% ? p/s83 / 1329 [---->_____________________________________________________________________] 6.25% 103 p/s104 / 1329 [----->___________________________________________________________________] 7.83% 103 p/s124 / 1329 [------>__________________________________________________________________] 9.33% 103 p/s143 / 1329 [------->________________________________________________________________] 10.76% 103 p/s163 / 1329 [-------->_______________________________________________________________] 12.26% 103 p/s184 / 1329 [--------->______________________________________________________________] 13.84% 103 p/s203 / 1329 [---------->_____________________________________________________________] 15.27% 103 p/s225 / 1329 [------------>___________________________________________________________] 16.93% 103 p/s246 / 1329 [------------->__________________________________________________________] 18.51% 103 p/s267 / 1329 [-------------->_________________________________________________________] 20.09% 103 p/s288 / 1329 [--------------->________________________________________________________] 21.67% 103 p/s305 / 1329 [---------------->_______________________________________________________] 22.95% 101 p/s312 / 1329 [---------------->_______________________________________________________] 23.48% 101 p/s334 / 1329 [------------------>_____________________________________________________] 25.13% 101 p/s355 / 1329 [------------------->____________________________________________________] 26.71% 101 p/s377 / 1329 [-------------------->___________________________________________________] 28.37% 102 p/s399 / 1329 [--------------------->__________________________________________________] 30.02% 102 p/s420 / 1329 [---------------------->_________________________________________________] 31.60% 102 p/s443 / 1329 [----------------------->________________________________________________] 33.33% 102 p/s465 / 1329 [------------------------->______________________________________________] 34.99% 102 p/s487 / 1329 [-------------------------->_____________________________________________] 36.64% 102 p/s507 / 1329 [--------------------------->____________________________________________] 38.15% 102 p/s529 / 1329 [---------------------------->___________________________________________] 39.80% 102 p/s551 / 1329 [----------------------------->__________________________________________] 41.46% 102 p/s572 / 1329 [------------------------------>_________________________________________] 43.04% 103 p/s594 / 1329 [-------------------------------->_______________________________________] 44.70% 103 p/s616 / 1329 [--------------------------------->______________________________________] 46.35% 103 p/s637 / 1329 [---------------------------------->_____________________________________] 47.93% 103 p/s659 / 1329 [----------------------------------->____________________________________] 49.59% 103 p/s680 / 1329 [------------------------------------>___________________________________] 51.17% 103 p/s695 / 1329 [------------------------------------->__________________________________] 52.29% 103 p/s716 / 1329 [-------------------------------------->_________________________________] 53.88% 103 p/s738 / 1329 [--------------------------------------->________________________________] 55.53% 103 p/s760 / 1329 [----------------------------------------->______________________________] 57.19% 103 p/s782 / 1329 [------------------------------------------>_____________________________] 58.84% 103 p/s803 / 1329 [------------------------------------------->____________________________] 60.42% 103 p/s825 / 1329 [-------------------------------------------->___________________________] 62.08% 103 p/s847 / 1329 [--------------------------------------------->__________________________] 63.73% 103 p/s869 / 1329 [----------------------------------------------->________________________] 65.39% 103 p/s891 / 1329 [------------------------------------------------>_______________________] 67.04% 104 p/s913 / 1329 [------------------------------------------------->______________________] 68.70% 104 p/s934 / 1329 [-------------------------------------------------->_____________________] 70.28% 104 p/s956 / 1329 [--------------------------------------------------->____________________] 71.93% 104 p/s978 / 1329 [---------------------------------------------------->___________________] 73.59% 104 p/s999 / 1329 [------------------------------------------------------>_________________] 75.17% 104 p/s1020 / 1329 [------------------------------------------------------>________________] 76.75% 104 p/s1042 / 1329 [------------------------------------------------------->_______________] 78.40% 104 p/s1064 / 1329 [-------------------------------------------------------->______________] 80.06% 104 p/s1086 / 1329 [---------------------------------------------------------->____________] 81.72% 105 p/s1107 / 1329 [----------------------------------------------------------->___________] 83.30% 105 p/s1129 / 1329 [------------------------------------------------------------>__________] 84.95% 105 p/s1151 / 1329 [------------------------------------------------------------->_________] 86.61% 105 p/s1173 / 1329 [-------------------------------------------------------------->________] 88.26% 105 p/s1194 / 1329 [--------------------------------------------------------------->_______] 89.84% 105 p/s1216 / 1329 [---------------------------------------------------------------->______] 91.50% 105 p/s1238 / 1329 [------------------------------------------------------------------>____] 93.15% 105 p/s1260 / 1329 [------------------------------------------------------------------->___] 94.81% 105 p/s1282 / 1329 [-------------------------------------------------------------------->__] 96.46% 105 p/s1304 / 1329 [--------------------------------------------------------------------->_] 98.12% 105 p/s1326 / 1329 [---------------------------------------------------------------------->] 99.77% 105 p/s1329 / 1329 [----------------------------------------------------------------------] 100.00% 107 p/s2026-07-29T05:17:59 - INFO: Parsing 1329 sonar sweeps from /working/d2402dff-7066-1228-2979-935ad7a727b8/tfd/output/SONAR/all-sweeps-info.csv...

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2026-07-29T05:18:48 - INFO: Writing sonar_raw.track.cbor
2026-07-29T05:19:07 - 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/d2402dff-7066-1228-2979-935ad7a727b8/d2402dff-7066-1228-2979-935ad7a727b8"
2026-07-29T05:19:08 - INFO: DataPrep 0.15.2a2
2026-07-29T05:19:08 - INFO: Prepared data will be output to /working/d2402dff-7066-1228-2979-935ad7a727b8/d2402dff-7066-1228-2979-935ad7a727b8/processing/data
2026-07-29T05:19:08 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-29T05:19:08 - deployment - INFO: Detected P3D version: P3D_1
2026-07-29T05:19:08 - INFO: Recording GUID: d2402dff-7066-1228-2979-935ad7a727b8
2026-07-29T05:19:08 - INFO: Preparing sonar data...
2026-07-29T05:19:08 - INFO: /working/d2402dff-7066-1228-2979-935ad7a727b8/d2402dff-7066-1228-2979-935ad7a727b8/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-29T05:19:09 - INFO: Sonar epoch is 2026-05-06 02:07:21.902730+00:00 (1778033241902730400)
2026-07-29T05:19:09 - INFO: Creating sonar sensor alignment track...
2026-07-29T05:19:09 - INFO: Using sonar rotation of 0.052360 radians for wedge mask
2026-07-29T05:19:09 - INFO: Using sonar digitizer
2026-07-29T05:19:09 - INFO: Sensor speed of sound is 1500 m/s
2026-07-29T05:19:09 - INFO: Sensor range is 0.794640 m
2026-07-29T05:19:09 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-29T05:19:09 - INFO: Scaled micrometres per sample is 2630.299931
2026-07-29T05:19:09 - INFO: Processing 1329 snapshot scans from 1329 source sweeps...
2026-07-29T05:19:09 - INFO: Processing sonar scans with 8 worker processes and chunksize 41

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2026-07-29T05:19:21 - INFO: Applying sonar temporal consistency...
2026-07-29T05:19:25 - INFO: Sonar temporal gap fill (window 2): 316587 points, 12723 candidate beams, filled 12690
2026-07-29T05:19:25 - INFO: Sonar temporal segment pruning (window 3): removed 26 segments, 139 points
2026-07-29T05:19:27 - INFO: Prepared sonar data in 19.2366 s
2026-07-29T05:19:27 - INFO: No IMU data found
2026-07-29T05:19:27 - INFO: DataPrep took 0:00:19.404292
2026-07-29T05:19:27 - INFO: Extracted sonar data in 0:01:41.369333
2026-07-29T05:19:28 - INFO: MSIP3D took 0:01:41.730476