+ [ 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/50ebd3b9-bf61-5f6e-71a2-c03bb1102edf
2026-07-29T05:17:44 - INFO: MSIP3D 0.2.11
2026-07-29T05:17:44 - INFO: P3D files will be output to /working/50ebd3b9-bf61-5f6e-71a2-c03bb1102edf/50ebd3b9-bf61-5f6e-71a2-c03bb1102edf
2026-07-29T05:17:44 - INFO: Found 10 TFD dictionary entries
2026-07-29T05:17:44 - INFO: Found TFD mission for Line C1
2026-07-29T05:17:44 - INFO: Recording will be processed as MD
2026-07-29T05:17:44 - INFO: Copying assets JSON to output directory...
2026-07-29T05:17:44 - INFO: Preparing counter data...
2026-07-29T05:17:44 - INFO: Interpreting counter as metric
2026-07-29T05:17:44 - INFO: Preparing size track from assets JSON...
2026-07-29T05:17:44 - INFO: Preparing shape track from assets JSON...
2026-07-29T05:17:44 - INFO: Preparing material track from assets JSON...
2026-07-29T05:17:44 - INFO: Prepared counter data in 0.0215 s
2026-07-29T05:17:44 - INFO: Extracting sonar data...
TFD path: /working/50ebd3b9-bf61-5f6e-71a2-c03bb1102edf/tfd/Line_C1.tfd
TFD path: /working/50ebd3b9-bf61-5f6e-71a2-c03bb1102edf/tfd/output
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855215978501720643
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080310110737079
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Name: SONAR_SENSOR_DATA, Tag: 6012080310110734931
Getting track SONAR
Number of frames: 825
20 / 825 [->___________________________________________________________________________] 2.42% ? p/s40 / 825 [--->_________________________________________________________________________] 4.85% ? p/s61 / 825 [----->_______________________________________________________________________] 7.39% ? p/s82 / 825 [------->___________________________________________________________________] 9.94% 103 p/s103 / 825 [--------->_______________________________________________________________] 12.48% 103 p/s124 / 825 [---------->______________________________________________________________] 15.03% 103 p/s146 / 825 [------------>____________________________________________________________] 17.70% 104 p/s168 / 825 [-------------->__________________________________________________________] 20.36% 104 p/s189 / 825 [---------------->________________________________________________________] 22.91% 104 p/s209 / 825 [------------------>______________________________________________________] 25.33% 104 p/s231 / 825 [-------------------->____________________________________________________] 28.00% 104 p/s251 / 825 [---------------------->__________________________________________________] 30.42% 104 p/s273 / 825 [------------------------>________________________________________________] 33.09% 104 p/s295 / 825 [-------------------------->______________________________________________] 35.76% 104 p/s317 / 825 [---------------------------->____________________________________________] 38.42% 104 p/s339 / 825 [----------------------------->___________________________________________] 41.09% 104 p/s361 / 825 [------------------------------->_________________________________________] 43.76% 104 p/s383 / 825 [--------------------------------->_______________________________________] 46.42% 104 p/s405 / 825 [----------------------------------->_____________________________________] 49.09% 105 p/s427 / 825 [------------------------------------->___________________________________] 51.76% 105 p/s449 / 825 [--------------------------------------->_________________________________] 54.42% 105 p/s471 / 825 [----------------------------------------->_______________________________] 57.09% 105 p/s493 / 825 [------------------------------------------->_____________________________] 59.76% 105 p/s514 / 825 [--------------------------------------------->___________________________] 62.30% 105 p/s536 / 825 [----------------------------------------------->_________________________] 64.97% 105 p/s558 / 825 [------------------------------------------------->_______________________] 67.64% 105 p/s580 / 825 [--------------------------------------------------->_____________________] 70.30% 105 p/s602 / 825 [----------------------------------------------------->___________________] 72.97% 106 p/s624 / 825 [------------------------------------------------------->_________________] 75.64% 106 p/s646 / 825 [--------------------------------------------------------->_______________] 78.30% 106 p/s668 / 825 [----------------------------------------------------------->_____________] 80.97% 106 p/s690 / 825 [------------------------------------------------------------->___________] 83.64% 106 p/s712 / 825 [--------------------------------------------------------------->_________] 86.30% 106 p/s734 / 825 [---------------------------------------------------------------->________] 88.97% 106 p/s756 / 825 [------------------------------------------------------------------>______] 91.64% 106 p/s778 / 825 [-------------------------------------------------------------------->____] 94.30% 106 p/s800 / 825 [---------------------------------------------------------------------->__] 96.97% 106 p/s822 / 825 [------------------------------------------------------------------------>] 99.64% 106 p/s825 / 825 [------------------------------------------------------------------------] 100.00% 111 p/s2026-07-29T05:17:52 - INFO: Parsing 825 sonar sweeps from /working/50ebd3b9-bf61-5f6e-71a2-c03bb1102edf/tfd/output/SONAR/all-sweeps-info.csv...

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2026-07-29T05:18:22 - INFO: Writing sonar_raw.track.cbor
2026-07-29T05:18:33 - 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/50ebd3b9-bf61-5f6e-71a2-c03bb1102edf/50ebd3b9-bf61-5f6e-71a2-c03bb1102edf"
2026-07-29T05:18:34 - INFO: DataPrep 0.15.2a2
2026-07-29T05:18:34 - INFO: Prepared data will be output to /working/50ebd3b9-bf61-5f6e-71a2-c03bb1102edf/50ebd3b9-bf61-5f6e-71a2-c03bb1102edf/processing/data
2026-07-29T05:18:34 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-29T05:18:34 - deployment - INFO: Detected P3D version: P3D_1
2026-07-29T05:18:34 - INFO: Recording GUID: 50ebd3b9-bf61-5f6e-71a2-c03bb1102edf
2026-07-29T05:18:34 - INFO: Preparing sonar data...
2026-07-29T05:18:34 - INFO: /working/50ebd3b9-bf61-5f6e-71a2-c03bb1102edf/50ebd3b9-bf61-5f6e-71a2-c03bb1102edf/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-29T05:18:35 - INFO: Sonar epoch is 2026-05-07 00:35:19.493466+00:00 (1778114119493465718)
2026-07-29T05:18:35 - INFO: Creating sonar sensor alignment track...
2026-07-29T05:18:35 - INFO: Using sonar rotation of 0.000000 radians for wedge mask
2026-07-29T05:18:35 - INFO: Using sonar digitizer
2026-07-29T05:18:35 - INFO: Sensor speed of sound is 1500 m/s
2026-07-29T05:18:35 - INFO: Sensor range is 0.794640 m
2026-07-29T05:18:35 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-29T05:18:35 - INFO: Scaled micrometres per sample is 2630.299931
2026-07-29T05:18:35 - INFO: Processing 825 snapshot scans from 825 source sweeps...
2026-07-29T05:18:35 - INFO: Processing sonar scans with 8 worker processes and chunksize 25

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2026-07-29T05:18:43 - INFO: Applying sonar temporal consistency...
2026-07-29T05:18:45 - INFO: Sonar temporal gap fill (window 2): 184949 points, 12319 candidate beams, filled 12313
2026-07-29T05:18:45 - INFO: Sonar temporal segment pruning (window 3): removed 31 segments, 162 points
2026-07-29T05:18:47 - INFO: Prepared sonar data in 12.5708 s
2026-07-29T05:18:47 - INFO: No IMU data found
2026-07-29T05:18:47 - INFO: DataPrep took 0:00:12.668519
2026-07-29T05:18:47 - INFO: Extracted sonar data in 0:01:02.699451
2026-07-29T05:18:47 - INFO: MSIP3D took 0:01:02.934080