+ [ 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
2026-07-29T05:48:07 - INFO: MSIP3D 0.2.11
2026-07-29T05:48:07 - INFO: P3D files will be output to /working/b1e63b91-cadd-1c12-7ea9-dc593d61917c/b1e63b91-cadd-1c12-7ea9-dc593d61917c
2026-07-29T05:48:07 - INFO: Found 10 TFD dictionary entries
2026-07-29T05:48:07 - INFO: Found TFD mission for Line A
2026-07-29T05:48:07 - INFO: Recording will be processed as MD
2026-07-29T05:48:07 - INFO: Copying assets JSON to output directory...
2026-07-29T05:48:07 - INFO: Preparing counter data...
2026-07-29T05:48:07 - INFO: Interpreting counter as metric
2026-07-29T05:48:07 - INFO: Preparing size track from assets JSON...
2026-07-29T05:48:07 - INFO: Preparing shape track from assets JSON...
2026-07-29T05:48:07 - INFO: Preparing material track from assets JSON...
2026-07-29T05:48:07 - INFO: Prepared counter data in 0.0429 s
2026-07-29T05:48:07 - 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: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080310110737079
Name: CCTV, Tag: 4855215978501720643
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012080310110734931
Name: Index, Tag: 5291276999180902239
Getting track SONAR
Number of frames: 2002
19 / 2002 [>___________________________________________________________________________] 0.95% ? p/s39 / 2002 [->__________________________________________________________________________] 1.95% ? p/s59 / 2002 [-->_________________________________________________________________________] 2.95% ? p/s80 / 2002 [-->_______________________________________________________________________] 4.00% 102 p/s100 / 2002 [--->_____________________________________________________________________] 5.00% 102 p/s120 / 2002 [---->____________________________________________________________________] 5.99% 102 p/s141 / 2002 [----->___________________________________________________________________] 7.04% 102 p/s161 / 2002 [----->___________________________________________________________________] 8.04% 102 p/s180 / 2002 [------>__________________________________________________________________] 8.99% 102 p/s199 / 2002 [------->_________________________________________________________________] 9.94% 101 p/s217 / 2002 [------->________________________________________________________________] 10.84% 101 p/s238 / 2002 [-------->_______________________________________________________________] 11.89% 101 p/s258 / 2002 [--------->______________________________________________________________] 12.89% 101 p/s280 / 2002 [---------->_____________________________________________________________] 13.99% 101 p/s300 / 2002 [---------->_____________________________________________________________] 14.99% 101 p/s321 / 2002 [----------->____________________________________________________________] 16.03% 101 p/s341 / 2002 [------------>___________________________________________________________] 17.03% 101 p/s361 / 2002 [------------>___________________________________________________________] 18.03% 101 p/s382 / 2002 [------------->__________________________________________________________] 19.08% 101 p/s404 / 2002 [-------------->_________________________________________________________] 20.18% 101 p/s425 / 2002 [--------------->________________________________________________________] 21.23% 101 p/s445 / 2002 [---------------->_______________________________________________________] 22.23% 102 p/s464 / 2002 [---------------->_______________________________________________________] 23.18% 102 p/s486 / 2002 [----------------->______________________________________________________] 24.28% 102 p/s504 / 2002 [------------------>_____________________________________________________] 25.17% 101 p/s524 / 2002 [------------------>_____________________________________________________] 26.17% 101 p/s545 / 2002 [------------------->____________________________________________________] 27.22% 101 p/s565 / 2002 [-------------------->___________________________________________________] 28.22% 101 p/s587 / 2002 [--------------------->__________________________________________________] 29.32% 101 p/s608 / 2002 [--------------------->__________________________________________________] 30.37% 101 p/s627 / 2002 [---------------------->_________________________________________________] 31.32% 102 p/s648 / 2002 [----------------------->________________________________________________] 32.37% 102 p/s669 / 2002 [------------------------>_______________________________________________] 33.42% 102 p/s690 / 2002 [------------------------>_______________________________________________] 34.47% 102 p/s711 / 2002 [------------------------->______________________________________________] 35.51% 102 p/s729 / 2002 [-------------------------->_____________________________________________] 36.41% 102 p/s750 / 2002 [-------------------------->_____________________________________________] 37.46% 102 p/s769 / 2002 [--------------------------->____________________________________________] 38.41% 102 p/s788 / 2002 [---------------------------->___________________________________________] 39.36% 102 p/s810 / 2002 [----------------------------->__________________________________________] 40.46% 102 p/s831 / 2002 [----------------------------->__________________________________________] 41.51% 102 p/s848 / 2002 [------------------------------>_________________________________________] 42.36% 102 p/s868 / 2002 [------------------------------->________________________________________] 43.36% 101 p/s886 / 2002 [------------------------------->________________________________________] 44.26% 101 p/s907 / 2002 [-------------------------------->_______________________________________] 45.30% 101 p/s929 / 2002 [--------------------------------->______________________________________] 46.40% 101 p/s947 / 2002 [---------------------------------->_____________________________________] 47.30% 101 p/s968 / 2002 [---------------------------------->_____________________________________] 48.35% 101 p/s987 / 2002 [----------------------------------->____________________________________] 49.30% 101 p/s1006 / 2002 [----------------------------------->___________________________________] 50.25% 101 p/s1025 / 2002 [------------------------------------>__________________________________] 51.20% 101 p/s1046 / 2002 [------------------------------------->_________________________________] 52.25% 101 p/s1067 / 2002 [------------------------------------->_________________________________] 53.30% 101 p/s1089 / 2002 [-------------------------------------->________________________________] 54.40% 101 p/s1109 / 2002 [--------------------------------------->_______________________________] 55.39% 101 p/s1129 / 2002 [---------------------------------------->______________________________] 56.39% 101 p/s1148 / 2002 [---------------------------------------->______________________________] 57.34% 101 p/s1168 / 2002 [----------------------------------------->_____________________________] 58.34% 101 p/s1187 / 2002 [------------------------------------------>____________________________] 59.29% 101 p/s1208 / 2002 [------------------------------------------>____________________________] 60.34% 101 p/s1230 / 2002 [------------------------------------------->___________________________] 61.44% 101 p/s1251 / 2002 [-------------------------------------------->__________________________] 62.49% 101 p/s1271 / 2002 [--------------------------------------------->_________________________] 63.49% 101 p/s1290 / 2002 [--------------------------------------------->_________________________] 64.44% 101 p/s1309 / 2002 [---------------------------------------------->________________________] 65.38% 101 p/s1329 / 2002 [----------------------------------------------->_______________________] 66.38% 101 p/s1349 / 2002 [----------------------------------------------->_______________________] 67.38% 101 p/s1367 / 2002 [------------------------------------------------>______________________] 68.28% 101 p/s1389 / 2002 [------------------------------------------------->_____________________] 69.38% 101 p/s1411 / 2002 [-------------------------------------------------->____________________] 70.48% 101 p/s1432 / 2002 [-------------------------------------------------->____________________] 71.53% 101 p/s1452 / 2002 [--------------------------------------------------->___________________] 72.53% 101 p/s1473 / 2002 [---------------------------------------------------->__________________] 73.58% 101 p/s1493 / 2002 [---------------------------------------------------->__________________] 74.58% 101 p/s1511 / 2002 [----------------------------------------------------->_________________] 75.47% 101 p/s1531 / 2002 [------------------------------------------------------>________________] 76.47% 101 p/s1551 / 2002 [------------------------------------------------------->_______________] 77.47% 101 p/s1571 / 2002 [------------------------------------------------------->_______________] 78.47% 101 p/s1591 / 2002 [-------------------------------------------------------->______________] 79.47% 101 p/s1610 / 2002 [--------------------------------------------------------->_____________] 80.42% 101 p/s1631 / 2002 [--------------------------------------------------------->_____________] 81.47% 101 p/s1650 / 2002 [---------------------------------------------------------->____________] 82.42% 101 p/s1672 / 2002 [----------------------------------------------------------->___________] 83.52% 101 p/s1691 / 2002 [----------------------------------------------------------->___________] 84.47% 101 p/s1711 / 2002 [------------------------------------------------------------>__________] 85.46% 101 p/s1731 / 2002 [------------------------------------------------------------->_________] 86.46% 101 p/s1750 / 2002 [-------------------------------------------------------------->________] 87.41% 101 p/s1772 / 2002 [-------------------------------------------------------------->________] 88.51% 101 p/s1791 / 2002 [--------------------------------------------------------------->_______] 89.46% 101 p/s1810 / 2002 [---------------------------------------------------------------->______] 90.41% 101 p/s1831 / 2002 [---------------------------------------------------------------->______] 91.46% 101 p/s1851 / 2002 [----------------------------------------------------------------->_____] 92.46% 101 p/s1872 / 2002 [------------------------------------------------------------------>____] 93.51% 101 p/s1891 / 2002 [------------------------------------------------------------------->___] 94.46% 101 p/s1913 / 2002 [------------------------------------------------------------------->___] 95.55% 101 p/s1932 / 2002 [-------------------------------------------------------------------->__] 96.50% 101 p/s1951 / 2002 [--------------------------------------------------------------------->_] 97.45% 101 p/s1969 / 2002 [--------------------------------------------------------------------->_] 98.35% 101 p/s1989 / 2002 [---------------------------------------------------------------------->] 99.35% 101 p/s1996 / 2002 [----------------------------------------------------------------------->] 99.70% 99 p/s2002 / 2002 [----------------------------------------------------------------------] 100.00% 101 p/s2026-07-29T05:48:27 - 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%|▏         | 27/2002 [00:00<01:11, 27.45it/s]
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2026-07-29T05:49:42 - INFO: Writing sonar_raw.track.cbor
2026-07-29T05:50:11 - 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"
2026-07-29T05:50:12 - INFO: DataPrep 0.15.2a2
2026-07-29T05:50:12 - INFO: Prepared data will be output to /working/b1e63b91-cadd-1c12-7ea9-dc593d61917c/b1e63b91-cadd-1c12-7ea9-dc593d61917c/processing/data
2026-07-29T05:50:12 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-29T05:50:12 - deployment - INFO: Detected P3D version: P3D_1
2026-07-29T05:50:12 - INFO: Recording GUID: b1e63b91-cadd-1c12-7ea9-dc593d61917c
2026-07-29T05:50:12 - INFO: Preparing sonar data...
2026-07-29T05:50:12 - INFO: /working/b1e63b91-cadd-1c12-7ea9-dc593d61917c/b1e63b91-cadd-1c12-7ea9-dc593d61917c/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-29T05:50:13 - INFO: Sonar epoch is 2026-05-06 00:01:27.587822+00:00 (1778025687587822407)
2026-07-29T05:50:13 - INFO: Creating sonar sensor alignment track...
2026-07-29T05:50:13 - INFO: Using sonar rotation of 0.087266 radians for wedge mask
2026-07-29T05:50:13 - INFO: Using sonar digitizer
2026-07-29T05:50:13 - INFO: Sensor speed of sound is 1500 m/s
2026-07-29T05:50:13 - INFO: Sensor range is 0.794640 m
2026-07-29T05:50:13 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-29T05:50:13 - INFO: Scaled micrometres per sample is 2630.299931
2026-07-29T05:50:13 - INFO: Processing 2002 snapshot scans from 2002 source sweeps...
2026-07-29T05:50:13 - INFO: Processing sonar scans with 8 worker processes and chunksize 62

  0%|          | 0/2002 [00:00<?, ?scan/s]
  0%|          | 1/2002 [00:03<2:04:09,  3.72s/scan]
  3%|▎         | 63/2002 [00:04<01:39, 19.52scan/s] 
  6%|▌         | 125/2002 [00:04<00:48, 38.40scan/s]
  9%|▉         | 187/2002 [00:05<00:36, 49.99scan/s]
 16%|█▌        | 311/2002 [00:06<00:20, 81.29scan/s]
 19%|█▊        | 373/2002 [00:06<00:16, 97.23scan/s]
 22%|██▏       | 435/2002 [00:07<00:15, 98.16scan/s]
 25%|██▍       | 497/2002 [00:08<00:17, 84.54scan/s]
 28%|██▊       | 559/2002 [00:08<00:16, 89.57scan/s]
 31%|███       | 621/2002 [00:09<00:14, 93.05scan/s]
 34%|███▍      | 683/2002 [00:09<00:12, 105.98scan/s]
 40%|████      | 807/2002 [00:10<00:10, 112.13scan/s]
 47%|████▋     | 931/2002 [00:11<00:07, 151.34scan/s]
 50%|████▉     | 993/2002 [00:12<00:09, 102.92scan/s]
 53%|█████▎    | 1055/2002 [00:13<00:09, 101.01scan/s]
 59%|█████▉    | 1179/2002 [00:13<00:06, 128.88scan/s]
 62%|██████▏   | 1241/2002 [00:14<00:05, 135.15scan/s]
 65%|██████▌   | 1303/2002 [00:14<00:05, 126.06scan/s]
 68%|██████▊   | 1365/2002 [00:15<00:04, 140.64scan/s]
 71%|███████▏  | 1427/2002 [00:15<00:04, 125.24scan/s]
 74%|███████▍  | 1489/2002 [00:16<00:05, 90.69scan/s] 
 77%|███████▋  | 1551/2002 [00:17<00:03, 118.06scan/s]
 81%|████████  | 1613/2002 [00:17<00:03, 107.96scan/s]
 84%|████████▎ | 1675/2002 [00:17<00:02, 137.31scan/s]
 85%|████████▍ | 1701/2002 [00:18<00:02, 111.47scan/s]
 91%|█████████ | 1817/2002 [00:18<00:01, 171.99scan/s]
 94%|█████████▍| 1879/2002 [00:19<00:00, 143.62scan/s]
100%|██████████| 2002/2002 [00:19<00:00, 103.58scan/s]
2026-07-29T05:50:33 - INFO: Applying sonar temporal consistency...
2026-07-29T05:50:39 - INFO: Sonar temporal gap fill (window 2): 490940 points, 14704 candidate beams, filled 14447
2026-07-29T05:50:40 - INFO: Sonar temporal segment pruning (window 3): removed 134 segments, 1163 points
2026-07-29T05:50:43 - INFO: Prepared sonar data in 31.2391 s
2026-07-29T05:50:43 - INFO: No IMU data found
2026-07-29T05:50:43 - INFO: DataPrep took 0:00:31.485489
2026-07-29T05:50:43 - INFO: Extracted sonar data in 0:02:36.139345
2026-07-29T05:50:44 - INFO: MSIP3D took 0:02:36.714847