+ [ 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/94c854b5-8f6a-161b-af7e-ee51aa97e56c
2026-07-29T05:17:30 - INFO: MSIP3D 0.2.11
2026-07-29T05:17:30 - INFO: P3D files will be output to /working/94c854b5-8f6a-161b-af7e-ee51aa97e56c/94c854b5-8f6a-161b-af7e-ee51aa97e56c
2026-07-29T05:17:30 - INFO: Found 10 TFD dictionary entries
2026-07-29T05:17:30 - INFO: Found TFD mission for Line C
2026-07-29T05:17:30 - INFO: Recording will be processed as MD
2026-07-29T05:17:30 - INFO: Copying assets JSON to output directory...
2026-07-29T05:17:30 - INFO: Preparing counter data...
2026-07-29T05:17:30 - INFO: Interpreting counter as metric
2026-07-29T05:17:30 - INFO: Preparing size track from assets JSON...
2026-07-29T05:17:30 - INFO: Preparing shape track from assets JSON...
2026-07-29T05:17:30 - INFO: Preparing material track from assets JSON...
2026-07-29T05:17:30 - INFO: Prepared counter data in 0.0324 s
2026-07-29T05:17:30 - INFO: Extracting sonar data...
TFD path: /working/94c854b5-8f6a-161b-af7e-ee51aa97e56c/tfd/Line_C.tfd
TFD path: /working/94c854b5-8f6a-161b-af7e-ee51aa97e56c/tfd/output
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012080310110737079
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855215978501720652
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR_SENSOR_DATA, Tag: 6012080310110734931
Name: CCTV, Tag: 4855215978501720643
Getting track SONAR
Number of frames: 1342
21 / 1342 [->__________________________________________________________________________] 1.56% ? p/s43 / 1342 [-->_________________________________________________________________________] 3.20% ? p/s64 / 1342 [--->________________________________________________________________________] 4.77% ? p/s86 / 1342 [---->_____________________________________________________________________] 6.41% 108 p/s107 / 1342 [----->___________________________________________________________________] 7.97% 108 p/s128 / 1342 [------>__________________________________________________________________] 9.54% 108 p/s150 / 1342 [-------->_______________________________________________________________] 11.18% 108 p/s171 / 1342 [--------->______________________________________________________________] 12.74% 108 p/s193 / 1342 [---------->_____________________________________________________________] 14.38% 108 p/s215 / 1342 [----------->____________________________________________________________] 16.02% 108 p/s237 / 1342 [------------>___________________________________________________________] 17.66% 108 p/s259 / 1342 [------------->__________________________________________________________] 19.30% 108 p/s281 / 1342 [--------------->________________________________________________________] 20.94% 108 p/s302 / 1342 [---------------->_______________________________________________________] 22.50% 108 p/s325 / 1342 [----------------->______________________________________________________] 24.22% 108 p/s347 / 1342 [------------------>_____________________________________________________] 25.86% 108 p/s369 / 1342 [------------------->____________________________________________________] 27.50% 108 p/s391 / 1342 [-------------------->___________________________________________________] 29.14% 108 p/s413 / 1342 [---------------------->_________________________________________________] 30.77% 109 p/s435 / 1342 [----------------------->________________________________________________] 32.41% 109 p/s457 / 1342 [------------------------>_______________________________________________] 34.05% 109 p/s479 / 1342 [------------------------->______________________________________________] 35.69% 109 p/s501 / 1342 [-------------------------->_____________________________________________] 37.33% 109 p/s518 / 1342 [--------------------------->____________________________________________] 38.60% 109 p/s540 / 1342 [---------------------------->___________________________________________] 40.24% 108 p/s563 / 1342 [------------------------------>_________________________________________] 41.95% 108 p/s585 / 1342 [------------------------------->________________________________________] 43.59% 108 p/s607 / 1342 [-------------------------------->_______________________________________] 45.23% 108 p/s629 / 1342 [--------------------------------->______________________________________] 46.87% 108 p/s651 / 1342 [---------------------------------->_____________________________________] 48.51% 108 p/s673 / 1342 [------------------------------------>___________________________________] 50.15% 109 p/s695 / 1342 [------------------------------------->__________________________________] 51.79% 109 p/s718 / 1342 [-------------------------------------->_________________________________] 53.50% 109 p/s740 / 1342 [--------------------------------------->________________________________] 55.14% 109 p/s762 / 1342 [---------------------------------------->_______________________________] 56.78% 109 p/s784 / 1342 [------------------------------------------>_____________________________] 58.42% 109 p/s807 / 1342 [------------------------------------------->____________________________] 60.13% 109 p/s829 / 1342 [-------------------------------------------->___________________________] 61.77% 109 p/s851 / 1342 [--------------------------------------------->__________________________] 63.41% 109 p/s873 / 1342 [---------------------------------------------->_________________________] 65.05% 109 p/s896 / 1342 [------------------------------------------------>_______________________] 66.77% 109 p/s918 / 1342 [------------------------------------------------->______________________] 68.41% 109 p/s940 / 1342 [-------------------------------------------------->_____________________] 70.04% 109 p/s962 / 1342 [--------------------------------------------------->____________________] 71.68% 109 p/s977 / 1342 [---------------------------------------------------->___________________] 72.80% 109 p/s993 / 1342 [----------------------------------------------------->__________________] 73.99% 108 p/s1014 / 1342 [----------------------------------------------------->_________________] 75.56% 108 p/s1035 / 1342 [------------------------------------------------------>________________] 77.12% 108 p/s1058 / 1342 [------------------------------------------------------->_______________] 78.84% 108 p/s1080 / 1342 [--------------------------------------------------------->_____________] 80.48% 108 p/s1102 / 1342 [---------------------------------------------------------->____________] 82.12% 108 p/s1125 / 1342 [----------------------------------------------------------->___________] 83.83% 108 p/s1147 / 1342 [------------------------------------------------------------>__________] 85.47% 108 p/s1169 / 1342 [------------------------------------------------------------->_________] 87.11% 108 p/s1192 / 1342 [--------------------------------------------------------------->_______] 88.82% 108 p/s1210 / 1342 [---------------------------------------------------------------->______] 90.16% 108 p/s1232 / 1342 [----------------------------------------------------------------->_____] 91.80% 108 p/s1255 / 1342 [------------------------------------------------------------------>____] 93.52% 108 p/s1277 / 1342 [------------------------------------------------------------------->___] 95.16% 108 p/s1300 / 1342 [-------------------------------------------------------------------->__] 96.87% 108 p/s1322 / 1342 [--------------------------------------------------------------------->_] 98.51% 108 p/s1342 / 1342 [----------------------------------------------------------------------] 100.00% 110 p/s2026-07-29T05:17:42 - INFO: Parsing 1342 sonar sweeps from /working/94c854b5-8f6a-161b-af7e-ee51aa97e56c/tfd/output/SONAR/all-sweeps-info.csv...

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2026-07-29T05:18:31 - INFO: Writing sonar_raw.track.cbor
2026-07-29T05:18:52 - 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/94c854b5-8f6a-161b-af7e-ee51aa97e56c/94c854b5-8f6a-161b-af7e-ee51aa97e56c"
2026-07-29T05:18:53 - INFO: DataPrep 0.15.2a2
2026-07-29T05:18:53 - INFO: Prepared data will be output to /working/94c854b5-8f6a-161b-af7e-ee51aa97e56c/94c854b5-8f6a-161b-af7e-ee51aa97e56c/processing/data
2026-07-29T05:18:53 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-29T05:18:53 - deployment - INFO: Detected P3D version: P3D_1
2026-07-29T05:18:53 - INFO: Recording GUID: 94c854b5-8f6a-161b-af7e-ee51aa97e56c
2026-07-29T05:18:53 - INFO: Preparing sonar data...
2026-07-29T05:18:53 - INFO: /working/94c854b5-8f6a-161b-af7e-ee51aa97e56c/94c854b5-8f6a-161b-af7e-ee51aa97e56c/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-29T05:18:54 - INFO: Sonar epoch is 2026-05-06 03:25:29.831288+00:00 (1778037929831288378)
2026-07-29T05:18:54 - INFO: Creating sonar sensor alignment track...
2026-07-29T05:18:54 - INFO: Using sonar rotation of 0.052360 radians for wedge mask
2026-07-29T05:18:54 - INFO: Using sonar digitizer
2026-07-29T05:18:54 - INFO: Sensor speed of sound is 1500 m/s
2026-07-29T05:18:54 - INFO: Sensor range is 0.794640 m
2026-07-29T05:18:54 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-29T05:18:54 - INFO: Scaled micrometres per sample is 2630.299931
2026-07-29T05:18:54 - INFO: Processing 1342 snapshot scans from 1342 source sweeps...
2026-07-29T05:18:54 - INFO: Processing sonar scans with 8 worker processes and chunksize 41

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2026-07-29T05:19:05 - INFO: Applying sonar temporal consistency...
2026-07-29T05:19:09 - INFO: Sonar temporal gap fill (window 2): 303447 points, 17849 candidate beams, filled 17824
2026-07-29T05:19:10 - INFO: Sonar temporal segment pruning (window 3): removed 16 segments, 75 points
2026-07-29T05:19:12 - INFO: Prepared sonar data in 18.9381 s
2026-07-29T05:19:12 - INFO: No IMU data found
2026-07-29T05:19:12 - INFO: DataPrep took 0:00:19.106099
2026-07-29T05:19:12 - INFO: Extracted sonar data in 0:01:42.299126
2026-07-29T05:19:12 - INFO: MSIP3D took 0:01:42.673822