+ [ 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
2026-07-29T05:47:25 - INFO: MSIP3D 0.2.11
2026-07-29T05:47:25 - INFO: P3D files will be output to /working/50ebd3b9-bf61-5f6e-71a2-c03bb1102edf/50ebd3b9-bf61-5f6e-71a2-c03bb1102edf
2026-07-29T05:47:25 - INFO: Found 10 TFD dictionary entries
2026-07-29T05:47:25 - INFO: Found TFD mission for Line C1
2026-07-29T05:47:25 - INFO: Recording will be processed as MD
2026-07-29T05:47:25 - INFO: Copying assets JSON to output directory...
2026-07-29T05:47:25 - INFO: Preparing counter data...
2026-07-29T05:47:25 - INFO: Interpreting counter as metric
2026-07-29T05:47:25 - INFO: Preparing size track from assets JSON...
2026-07-29T05:47:25 - INFO: Preparing shape track from assets JSON...
2026-07-29T05:47:25 - INFO: Preparing material track from assets JSON...
2026-07-29T05:47:25 - INFO: Prepared counter data in 0.0256 s
2026-07-29T05:47:25 - 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: SONAR, Tag: 6012080310110737079
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720643
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012080310110734931
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 825
18 / 825 [->___________________________________________________________________________] 2.18% ? p/s37 / 825 [--->_________________________________________________________________________] 4.48% ? p/s55 / 825 [----->_______________________________________________________________________] 6.67% ? p/s73 / 825 [------>_____________________________________________________________________] 8.85% 92 p/s93 / 825 [-------->__________________________________________________________________] 11.27% 92 p/s112 / 825 [---------->_______________________________________________________________] 13.58% 92 p/s130 / 825 [----------->______________________________________________________________] 15.76% 92 p/s148 / 825 [------------->____________________________________________________________] 17.94% 92 p/s167 / 825 [-------------->___________________________________________________________] 20.24% 92 p/s186 / 825 [---------------->_________________________________________________________] 22.55% 92 p/s202 / 825 [------------------>_______________________________________________________] 24.48% 92 p/s221 / 825 [------------------->______________________________________________________] 26.79% 92 p/s241 / 825 [--------------------->____________________________________________________] 29.21% 92 p/s260 / 825 [----------------------->__________________________________________________] 31.52% 92 p/s278 / 825 [------------------------>_________________________________________________] 33.70% 92 p/s298 / 825 [-------------------------->_______________________________________________] 36.12% 92 p/s318 / 825 [---------------------------->_____________________________________________] 38.55% 92 p/s336 / 825 [------------------------------>___________________________________________] 40.73% 92 p/s353 / 825 [------------------------------->__________________________________________] 42.79% 92 p/s371 / 825 [--------------------------------->________________________________________] 44.97% 92 p/s389 / 825 [---------------------------------->_______________________________________] 47.15% 92 p/s408 / 825 [------------------------------------>_____________________________________] 49.45% 92 p/s428 / 825 [-------------------------------------->___________________________________] 51.88% 92 p/s445 / 825 [--------------------------------------->__________________________________] 53.94% 92 p/s464 / 825 [----------------------------------------->________________________________] 56.24% 92 p/s484 / 825 [------------------------------------------->______________________________] 58.67% 92 p/s503 / 825 [--------------------------------------------->____________________________] 60.97% 92 p/s522 / 825 [---------------------------------------------->___________________________] 63.27% 92 p/s542 / 825 [------------------------------------------------>_________________________] 65.70% 92 p/s563 / 825 [-------------------------------------------------->_______________________] 68.24% 92 p/s582 / 825 [---------------------------------------------------->_____________________] 70.55% 93 p/s602 / 825 [----------------------------------------------------->____________________] 72.97% 93 p/s621 / 825 [------------------------------------------------------->__________________] 75.27% 93 p/s642 / 825 [--------------------------------------------------------->________________] 77.82% 93 p/s662 / 825 [----------------------------------------------------------->______________] 80.24% 93 p/s679 / 825 [------------------------------------------------------------>_____________] 82.30% 93 p/s697 / 825 [-------------------------------------------------------------->___________] 84.48% 93 p/s716 / 825 [---------------------------------------------------------------->_________] 86.79% 93 p/s736 / 825 [------------------------------------------------------------------>_______] 89.21% 93 p/s756 / 825 [------------------------------------------------------------------->______] 91.64% 94 p/s772 / 825 [--------------------------------------------------------------------->____] 93.58% 94 p/s791 / 825 [---------------------------------------------------------------------->___] 95.88% 94 p/s810 / 825 [------------------------------------------------------------------------>_] 98.18% 93 p/s825 / 825 [-------------------------------------------------------------------------] 100.00% 96 p/s2026-07-29T05:47:33 - INFO: Parsing 825 sonar sweeps from /working/50ebd3b9-bf61-5f6e-71a2-c03bb1102edf/tfd/output/SONAR/all-sweeps-info.csv...

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2026-07-29T05:48:04 - INFO: Writing sonar_raw.track.cbor
2026-07-29T05:48:16 - 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"
2026-07-29T05:48:17 - INFO: DataPrep 0.15.2a2
2026-07-29T05:48:17 - INFO: Prepared data will be output to /working/50ebd3b9-bf61-5f6e-71a2-c03bb1102edf/50ebd3b9-bf61-5f6e-71a2-c03bb1102edf/processing/data
2026-07-29T05:48:17 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-29T05:48:17 - deployment - INFO: Detected P3D version: P3D_1
2026-07-29T05:48:17 - INFO: Recording GUID: 50ebd3b9-bf61-5f6e-71a2-c03bb1102edf
2026-07-29T05:48:17 - INFO: Preparing sonar data...
2026-07-29T05:48:17 - INFO: /working/50ebd3b9-bf61-5f6e-71a2-c03bb1102edf/50ebd3b9-bf61-5f6e-71a2-c03bb1102edf/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-29T05:48:17 - INFO: Sonar epoch is 2026-05-07 00:35:19.493466+00:00 (1778114119493465718)
2026-07-29T05:48:17 - INFO: Creating sonar sensor alignment track...
2026-07-29T05:48:17 - INFO: Using sonar rotation of 0.000000 radians for wedge mask
2026-07-29T05:48:17 - INFO: Using sonar digitizer
2026-07-29T05:48:17 - INFO: Sensor speed of sound is 1500 m/s
2026-07-29T05:48:17 - INFO: Sensor range is 0.794640 m
2026-07-29T05:48:17 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-29T05:48:17 - INFO: Scaled micrometres per sample is 2630.299931
2026-07-29T05:48:17 - INFO: Processing 825 snapshot scans from 825 source sweeps...
2026-07-29T05:48:17 - INFO: Processing sonar scans with 8 worker processes and chunksize 25

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2026-07-29T05:48:26 - INFO: Applying sonar temporal consistency...
2026-07-29T05:48:28 - INFO: Sonar temporal gap fill (window 2): 184949 points, 12319 candidate beams, filled 12313
2026-07-29T05:48:29 - INFO: Sonar temporal segment pruning (window 3): removed 31 segments, 162 points
2026-07-29T05:48:30 - INFO: Prepared sonar data in 13.0404 s
2026-07-29T05:48:30 - INFO: No IMU data found
2026-07-29T05:48:30 - INFO: DataPrep took 0:00:13.144279
2026-07-29T05:48:30 - INFO: Extracted sonar data in 0:01:05.289210
2026-07-29T05:48:30 - INFO: MSIP3D took 0:01:05.540724