+ [ 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
2026-07-29T05:47:31 - INFO: MSIP3D 0.2.11
2026-07-29T05:47:31 - INFO: P3D files will be output to /working/94c854b5-8f6a-161b-af7e-ee51aa97e56c/94c854b5-8f6a-161b-af7e-ee51aa97e56c
2026-07-29T05:47:31 - INFO: Found 10 TFD dictionary entries
2026-07-29T05:47:31 - INFO: Found TFD mission for Line C
2026-07-29T05:47:31 - INFO: Recording will be processed as MD
2026-07-29T05:47:31 - INFO: Copying assets JSON to output directory...
2026-07-29T05:47:31 - INFO: Preparing counter data...
2026-07-29T05:47:31 - INFO: Interpreting counter as metric
2026-07-29T05:47:31 - INFO: Preparing size track from assets JSON...
2026-07-29T05:47:31 - INFO: Preparing shape track from assets JSON...
2026-07-29T05:47:31 - INFO: Preparing material track from assets JSON...
2026-07-29T05:47:31 - INFO: Prepared counter data in 0.0515 s
2026-07-29T05:47:31 - 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: SONAR_SENSOR_DATA, Tag: 6012080310110734931
Name: Checkpoint, Tag: 4857243675797774090
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855215978501720643
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012080310110737079
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Getting track SONAR
Number of frames: 1342
21 / 1342 [->__________________________________________________________________________] 1.56% ? p/s43 / 1342 [-->_________________________________________________________________________] 3.20% ? p/s61 / 1342 [--->________________________________________________________________________] 4.55% ? p/s80 / 1342 [---->______________________________________________________________________] 5.96% 98 p/s101 / 1342 [----->____________________________________________________________________] 7.53% 98 p/s122 / 1342 [------>___________________________________________________________________] 9.09% 98 p/s140 / 1342 [------->_________________________________________________________________] 10.43% 98 p/s162 / 1342 [-------->________________________________________________________________] 12.07% 98 p/s183 / 1342 [--------->_______________________________________________________________] 13.64% 98 p/s205 / 1342 [----------->_____________________________________________________________] 15.28% 99 p/s227 / 1342 [------------>____________________________________________________________] 16.92% 99 p/s248 / 1342 [------------->___________________________________________________________] 18.48% 99 p/s270 / 1342 [-------------->_________________________________________________________] 20.12% 100 p/s292 / 1342 [--------------->________________________________________________________] 21.76% 100 p/s315 / 1342 [---------------->_______________________________________________________] 23.47% 100 p/s337 / 1342 [------------------>_____________________________________________________] 25.11% 100 p/s359 / 1342 [------------------->____________________________________________________] 26.75% 100 p/s381 / 1342 [-------------------->___________________________________________________] 28.39% 100 p/s403 / 1342 [--------------------->__________________________________________________] 30.03% 101 p/s425 / 1342 [---------------------->_________________________________________________] 31.67% 101 p/s447 / 1342 [----------------------->________________________________________________] 33.31% 101 p/s469 / 1342 [------------------------->______________________________________________] 34.95% 102 p/s491 / 1342 [-------------------------->_____________________________________________] 36.59% 102 p/s512 / 1342 [--------------------------->____________________________________________] 38.15% 102 p/s534 / 1342 [---------------------------->___________________________________________] 39.79% 102 p/s556 / 1342 [----------------------------->__________________________________________] 41.43% 102 p/s578 / 1342 [------------------------------->________________________________________] 43.07% 102 p/s600 / 1342 [-------------------------------->_______________________________________] 44.71% 103 p/s622 / 1342 [--------------------------------->______________________________________] 46.35% 103 p/s644 / 1342 [---------------------------------->_____________________________________] 47.99% 103 p/s666 / 1342 [----------------------------------->____________________________________] 49.63% 103 p/s688 / 1342 [------------------------------------>___________________________________] 51.27% 103 p/s710 / 1342 [-------------------------------------->_________________________________] 52.91% 103 p/s732 / 1342 [--------------------------------------->________________________________] 54.55% 103 p/s754 / 1342 [---------------------------------------->_______________________________] 56.18% 103 p/s776 / 1342 [----------------------------------------->______________________________] 57.82% 103 p/s799 / 1342 [------------------------------------------>_____________________________] 59.54% 104 p/s821 / 1342 [-------------------------------------------->___________________________] 61.18% 104 p/s843 / 1342 [--------------------------------------------->__________________________] 62.82% 104 p/s865 / 1342 [---------------------------------------------->_________________________] 64.46% 104 p/s888 / 1342 [----------------------------------------------->________________________] 66.17% 104 p/s910 / 1342 [------------------------------------------------>_______________________] 67.81% 104 p/s932 / 1342 [-------------------------------------------------->_____________________] 69.45% 105 p/s954 / 1342 [--------------------------------------------------->____________________] 71.09% 105 p/s976 / 1342 [---------------------------------------------------->___________________] 72.73% 105 p/s998 / 1342 [----------------------------------------------------->__________________] 74.37% 105 p/s1019 / 1342 [----------------------------------------------------->_________________] 75.93% 105 p/s1041 / 1342 [------------------------------------------------------->_______________] 77.57% 105 p/s1064 / 1342 [-------------------------------------------------------->______________] 79.28% 106 p/s1086 / 1342 [--------------------------------------------------------->_____________] 80.92% 106 p/s1108 / 1342 [---------------------------------------------------------->____________] 82.56% 106 p/s1130 / 1342 [----------------------------------------------------------->___________] 84.20% 106 p/s1152 / 1342 [------------------------------------------------------------>__________] 85.84% 106 p/s1173 / 1342 [-------------------------------------------------------------->________] 87.41% 106 p/s1195 / 1342 [--------------------------------------------------------------->_______] 89.05% 106 p/s1217 / 1342 [---------------------------------------------------------------->______] 90.69% 106 p/s1239 / 1342 [----------------------------------------------------------------->_____] 92.32% 106 p/s1261 / 1342 [------------------------------------------------------------------>____] 93.96% 106 p/s1284 / 1342 [------------------------------------------------------------------->___] 95.68% 106 p/s1305 / 1342 [--------------------------------------------------------------------->_] 97.24% 106 p/s1327 / 1342 [---------------------------------------------------------------------->] 98.88% 106 p/s1342 / 1342 [----------------------------------------------------------------------] 100.00% 111 p/s2026-07-29T05:47:43 - INFO: Parsing 1342 sonar sweeps from /working/94c854b5-8f6a-161b-af7e-ee51aa97e56c/tfd/output/SONAR/all-sweeps-info.csv...

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2026-07-29T05:48:33 - INFO: Writing sonar_raw.track.cbor
2026-07-29T05:48:52 - 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"
2026-07-29T05:48:53 - INFO: DataPrep 0.15.2a2
2026-07-29T05:48:53 - INFO: Prepared data will be output to /working/94c854b5-8f6a-161b-af7e-ee51aa97e56c/94c854b5-8f6a-161b-af7e-ee51aa97e56c/processing/data
2026-07-29T05:48:53 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-29T05:48:53 - deployment - INFO: Detected P3D version: P3D_1
2026-07-29T05:48:53 - INFO: Recording GUID: 94c854b5-8f6a-161b-af7e-ee51aa97e56c
2026-07-29T05:48:53 - INFO: Preparing sonar data...
2026-07-29T05:48:53 - INFO: /working/94c854b5-8f6a-161b-af7e-ee51aa97e56c/94c854b5-8f6a-161b-af7e-ee51aa97e56c/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-29T05:48:54 - INFO: Sonar epoch is 2026-05-06 03:25:29.831288+00:00 (1778037929831288378)
2026-07-29T05:48:54 - INFO: Creating sonar sensor alignment track...
2026-07-29T05:48:54 - INFO: Using sonar rotation of 0.052360 radians for wedge mask
2026-07-29T05:48:54 - INFO: Using sonar digitizer
2026-07-29T05:48:54 - INFO: Sensor speed of sound is 1500 m/s
2026-07-29T05:48:54 - INFO: Sensor range is 0.794640 m
2026-07-29T05:48:54 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-29T05:48:54 - INFO: Scaled micrometres per sample is 2630.299931
2026-07-29T05:48:54 - INFO: Processing 1342 snapshot scans from 1342 source sweeps...
2026-07-29T05:48:54 - INFO: Processing sonar scans with 8 worker processes and chunksize 41

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2026-07-29T05:49:05 - INFO: Applying sonar temporal consistency...
2026-07-29T05:49:09 - INFO: Sonar temporal gap fill (window 2): 303447 points, 17849 candidate beams, filled 17824
2026-07-29T05:49:09 - INFO: Sonar temporal segment pruning (window 3): removed 16 segments, 75 points
2026-07-29T05:49:11 - INFO: Prepared sonar data in 18.3770 s
2026-07-29T05:49:11 - INFO: No IMU data found
2026-07-29T05:49:11 - INFO: DataPrep took 0:00:18.542633
2026-07-29T05:49:11 - INFO: Extracted sonar data in 0:01:40.693677
2026-07-29T05:49:12 - INFO: MSIP3D took 0:01:41.098025