+ [ 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
2026-07-29T05:47:52 - INFO: MSIP3D 0.2.11
2026-07-29T05:47:52 - INFO: P3D files will be output to /working/d2402dff-7066-1228-2979-935ad7a727b8/d2402dff-7066-1228-2979-935ad7a727b8
2026-07-29T05:47:52 - INFO: Found 10 TFD dictionary entries
2026-07-29T05:47:52 - INFO: Found TFD mission for Line B
2026-07-29T05:47:52 - INFO: Recording will be processed as MD
2026-07-29T05:47:52 - INFO: Copying assets JSON to output directory...
2026-07-29T05:47:52 - INFO: Preparing counter data...
2026-07-29T05:47:52 - INFO: Interpreting counter as metric
2026-07-29T05:47:52 - INFO: Preparing size track from assets JSON...
2026-07-29T05:47:52 - INFO: Preparing shape track from assets JSON...
2026-07-29T05:47:52 - INFO: Preparing material track from assets JSON...
2026-07-29T05:47:52 - INFO: Prepared counter data in 0.0268 s
2026-07-29T05:47:52 - 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: LASER, Tag: 4855215978501720652
Name: SONAR_SENSOR_DATA, Tag: 6012080310110734931
Name: CCTV, Tag: 4855215978501720643
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080310110737079
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Getting track SONAR
Number of frames: 1329
19 / 1329 [->__________________________________________________________________________] 1.43% ? p/s36 / 1329 [-->_________________________________________________________________________] 2.71% ? p/s53 / 1329 [--->________________________________________________________________________] 3.99% ? p/s72 / 1329 [---->______________________________________________________________________] 5.42% 88 p/s92 / 1329 [----->_____________________________________________________________________] 6.92% 88 p/s113 / 1329 [------>___________________________________________________________________] 8.50% 88 p/s130 / 1329 [------->__________________________________________________________________] 9.78% 89 p/s148 / 1329 [-------->________________________________________________________________] 11.14% 89 p/s166 / 1329 [--------->_______________________________________________________________] 12.49% 89 p/s186 / 1329 [---------->______________________________________________________________] 14.00% 89 p/s203 / 1329 [----------->_____________________________________________________________] 15.27% 89 p/s222 / 1329 [------------>____________________________________________________________] 16.70% 89 p/s243 / 1329 [------------->___________________________________________________________] 18.28% 90 p/s261 / 1329 [-------------->__________________________________________________________] 19.64% 90 p/s280 / 1329 [--------------->_________________________________________________________] 21.07% 90 p/s299 / 1329 [---------------->________________________________________________________] 22.50% 90 p/s317 / 1329 [----------------->_______________________________________________________] 23.85% 90 p/s335 / 1329 [------------------>______________________________________________________] 25.21% 90 p/s356 / 1329 [------------------->_____________________________________________________] 26.79% 90 p/s376 / 1329 [-------------------->____________________________________________________] 28.29% 90 p/s395 / 1329 [--------------------->___________________________________________________] 29.72% 90 p/s415 / 1329 [---------------------->__________________________________________________] 31.23% 91 p/s435 / 1329 [----------------------->_________________________________________________] 32.73% 91 p/s457 / 1329 [------------------------->_______________________________________________] 34.39% 91 p/s477 / 1329 [-------------------------->______________________________________________] 35.89% 91 p/s496 / 1329 [--------------------------->_____________________________________________] 37.32% 91 p/s513 / 1329 [---------------------------->____________________________________________] 38.60% 91 p/s533 / 1329 [----------------------------->___________________________________________] 40.11% 92 p/s554 / 1329 [------------------------------>__________________________________________] 41.69% 92 p/s574 / 1329 [------------------------------->_________________________________________] 43.19% 92 p/s592 / 1329 [-------------------------------->________________________________________] 44.54% 92 p/s611 / 1329 [--------------------------------->_______________________________________] 45.97% 92 p/s629 / 1329 [---------------------------------->______________________________________] 47.33% 92 p/s650 / 1329 [----------------------------------->_____________________________________] 48.91% 92 p/s668 / 1329 [------------------------------------>____________________________________] 50.26% 92 p/s689 / 1329 [------------------------------------->___________________________________] 51.84% 92 p/s710 / 1329 [-------------------------------------->__________________________________] 53.42% 93 p/s730 / 1329 [---------------------------------------->________________________________] 54.93% 93 p/s750 / 1329 [----------------------------------------->_______________________________] 56.43% 93 p/s771 / 1329 [------------------------------------------>______________________________] 58.01% 93 p/s791 / 1329 [------------------------------------------->_____________________________] 59.52% 93 p/s810 / 1329 [-------------------------------------------->____________________________] 60.95% 93 p/s831 / 1329 [--------------------------------------------->___________________________] 62.53% 94 p/s848 / 1329 [---------------------------------------------->__________________________] 63.81% 94 p/s867 / 1329 [----------------------------------------------->_________________________] 65.24% 94 p/s885 / 1329 [------------------------------------------------>________________________] 66.59% 94 p/s904 / 1329 [------------------------------------------------->_______________________] 68.02% 94 p/s923 / 1329 [-------------------------------------------------->______________________] 69.45% 94 p/s941 / 1329 [--------------------------------------------------->_____________________] 70.81% 94 p/s960 / 1329 [---------------------------------------------------->____________________] 72.23% 94 p/s979 / 1329 [----------------------------------------------------->___________________] 73.66% 94 p/s997 / 1329 [------------------------------------------------------>__________________] 75.02% 94 p/s1010 / 1329 [------------------------------------------------------>_________________] 76.00% 94 p/s1028 / 1329 [------------------------------------------------------->________________] 77.35% 94 p/s1049 / 1329 [-------------------------------------------------------->_______________] 78.93% 93 p/s1069 / 1329 [--------------------------------------------------------->______________] 80.44% 93 p/s1090 / 1329 [----------------------------------------------------------->____________] 82.02% 93 p/s1109 / 1329 [------------------------------------------------------------>___________] 83.45% 94 p/s1128 / 1329 [------------------------------------------------------------->__________] 84.88% 94 p/s1146 / 1329 [-------------------------------------------------------------->_________] 86.23% 94 p/s1165 / 1329 [--------------------------------------------------------------->________] 87.66% 94 p/s1183 / 1329 [---------------------------------------------------------------->_______] 89.01% 94 p/s1201 / 1329 [----------------------------------------------------------------->______] 90.37% 94 p/s1220 / 1329 [------------------------------------------------------------------>_____] 91.80% 93 p/s1240 / 1329 [------------------------------------------------------------------->____] 93.30% 93 p/s1260 / 1329 [-------------------------------------------------------------------->___] 94.81% 93 p/s1280 / 1329 [--------------------------------------------------------------------->__] 96.31% 94 p/s1300 / 1329 [---------------------------------------------------------------------->_] 97.82% 94 p/s1318 / 1329 [----------------------------------------------------------------------->] 99.17% 94 p/s1329 / 1329 [-----------------------------------------------------------------------] 100.00% 97 p/s2026-07-29T05:48:06 - INFO: Parsing 1329 sonar sweeps from /working/d2402dff-7066-1228-2979-935ad7a727b8/tfd/output/SONAR/all-sweeps-info.csv...

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2026-07-29T05:48:55 - INFO: Writing sonar_raw.track.cbor
2026-07-29T05:49:15 - 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"
2026-07-29T05:49:15 - INFO: DataPrep 0.15.2a2
2026-07-29T05:49:15 - INFO: Prepared data will be output to /working/d2402dff-7066-1228-2979-935ad7a727b8/d2402dff-7066-1228-2979-935ad7a727b8/processing/data
2026-07-29T05:49:15 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-29T05:49:15 - deployment - INFO: Detected P3D version: P3D_1
2026-07-29T05:49:15 - INFO: Recording GUID: d2402dff-7066-1228-2979-935ad7a727b8
2026-07-29T05:49:15 - INFO: Preparing sonar data...
2026-07-29T05:49:15 - INFO: /working/d2402dff-7066-1228-2979-935ad7a727b8/d2402dff-7066-1228-2979-935ad7a727b8/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-29T05:49:16 - INFO: Sonar epoch is 2026-05-06 02:07:21.902730+00:00 (1778033241902730400)
2026-07-29T05:49:16 - INFO: Creating sonar sensor alignment track...
2026-07-29T05:49:16 - INFO: Using sonar rotation of 0.052360 radians for wedge mask
2026-07-29T05:49:16 - INFO: Using sonar digitizer
2026-07-29T05:49:16 - INFO: Sensor speed of sound is 1500 m/s
2026-07-29T05:49:16 - INFO: Sensor range is 0.794640 m
2026-07-29T05:49:16 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-29T05:49:16 - INFO: Scaled micrometres per sample is 2630.299931
2026-07-29T05:49:16 - INFO: Processing 1329 snapshot scans from 1329 source sweeps...
2026-07-29T05:49:16 - INFO: Processing sonar scans with 8 worker processes and chunksize 41

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2026-07-29T05:49:29 - INFO: Applying sonar temporal consistency...
2026-07-29T05:49:33 - INFO: Sonar temporal gap fill (window 2): 316587 points, 12723 candidate beams, filled 12690
2026-07-29T05:49:34 - INFO: Sonar temporal segment pruning (window 3): removed 26 segments, 139 points
2026-07-29T05:49:36 - INFO: Prepared sonar data in 20.4491 s
2026-07-29T05:49:36 - INFO: No IMU data found
2026-07-29T05:49:36 - INFO: DataPrep took 0:00:20.614951
2026-07-29T05:49:36 - INFO: Extracted sonar data in 0:01:43.555998
2026-07-29T05:49:36 - INFO: MSIP3D took 0:01:43.925354