+ [ 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
+ [ smd = md ]
+ 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 --sonar-sample-offset -1 /working/80edf19a-3ef9-b1dd-c873-59d0a3c1d52a
2026-07-30T03:59:30 - INFO: MSIP3D 0.2.11
2026-07-30T03:59:30 - INFO: sonar-flip flag enabled in flags file
2026-07-30T03:59:30 - INFO: P3D files will be output to /working/80edf19a-3ef9-b1dd-c873-59d0a3c1d52a/80edf19a-3ef9-b1dd-c873-59d0a3c1d52a
2026-07-30T03:59:30 - INFO: Found 11 TFD dictionary entries
2026-07-30T03:59:31 - INFO: Found TFD mission for Meadowhead 2nd
2026-07-30T03:59:31 - INFO: Recording will be processed as SMD
2026-07-30T03:59:31 - INFO: Copying assets JSON to output directory...
2026-07-30T03:59:31 - INFO: Preparing counter data...
2026-07-30T03:59:31 - INFO: Interpreting counter as metric
2026-07-30T03:59:31 - INFO: Preparing size track from assets JSON...
2026-07-30T03:59:31 - INFO: Preparing shape track from assets JSON...
2026-07-30T03:59:31 - INFO: Preparing material track from assets JSON...
2026-07-30T03:59:31 - INFO: Prepared counter data in 0.1913 s
2026-07-30T03:59:31 - INFO: Extracting sonar data...
TFD path: /working/80edf19a-3ef9-b1dd-c873-59d0a3c1d52a/tfd/Meadowhead_2nd.tfd
TFD path: /working/80edf19a-3ef9-b1dd-c873-59d0a3c1d52a/tfd/output
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: CCTV, Tag: 4855215978501720643
Name: CCTV, Tag: 4855215978501720644
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: 4392
22 / 4392 [>___________________________________________________________________________] 0.50% ? p/s45 / 4392 [>___________________________________________________________________________] 1.02% ? p/s67 / 4392 [->__________________________________________________________________________] 1.53% ? p/s90 / 4392 [->________________________________________________________________________] 2.05% 113 p/s113 / 4392 [->_______________________________________________________________________] 2.57% 113 p/s134 / 4392 [-->______________________________________________________________________] 3.05% 113 p/s157 / 4392 [-->______________________________________________________________________] 3.57% 113 p/s178 / 4392 [-->______________________________________________________________________] 4.05% 113 p/s201 / 4392 [--->_____________________________________________________________________] 4.58% 113 p/s224 / 4392 [--->_____________________________________________________________________] 5.10% 113 p/s247 / 4392 [---->____________________________________________________________________] 5.62% 113 p/s269 / 4392 [---->____________________________________________________________________] 6.12% 113 p/s292 / 4392 [---->____________________________________________________________________] 6.65% 113 p/s315 / 4392 [----->___________________________________________________________________] 7.17% 113 p/s337 / 4392 [----->___________________________________________________________________] 7.67% 113 p/s360 / 4392 [----->___________________________________________________________________] 8.20% 113 p/s383 / 4392 [------>__________________________________________________________________] 8.72% 113 p/s405 / 4392 [------>__________________________________________________________________] 9.22% 113 p/s428 / 4392 [------->_________________________________________________________________] 9.74% 113 p/s451 / 4392 [------->________________________________________________________________] 10.27% 113 p/s473 / 4392 [------->________________________________________________________________] 10.77% 113 p/s496 / 4392 [-------->_______________________________________________________________] 11.29% 113 p/s518 / 4392 [-------->_______________________________________________________________] 11.79% 113 p/s539 / 4392 [-------->_______________________________________________________________] 12.27% 113 p/s562 / 4392 [--------->______________________________________________________________] 12.80% 113 p/s585 / 4392 [--------->______________________________________________________________] 13.32% 113 p/s608 / 4392 [--------->______________________________________________________________] 13.84% 113 p/s631 / 4392 [---------->_____________________________________________________________] 14.37% 113 p/s654 / 4392 [---------->_____________________________________________________________] 14.89% 113 p/s676 / 4392 [----------->____________________________________________________________] 15.39% 113 p/s699 / 4392 [----------->____________________________________________________________] 15.92% 113 p/s721 / 4392 [----------->____________________________________________________________] 16.42% 113 p/s744 / 4392 [------------>___________________________________________________________] 16.94% 113 p/s767 / 4392 [------------>___________________________________________________________] 17.46% 113 p/s789 / 4392 [------------>___________________________________________________________] 17.96% 113 p/s812 / 4392 [------------->__________________________________________________________] 18.49% 113 p/s835 / 4392 [------------->__________________________________________________________] 19.01% 113 p/s858 / 4392 [-------------->_________________________________________________________] 19.54% 113 p/s881 / 4392 [-------------->_________________________________________________________] 20.06% 113 p/s904 / 4392 [-------------->_________________________________________________________] 20.58% 113 p/s927 / 4392 [--------------->________________________________________________________] 21.11% 113 p/s949 / 4392 [--------------->________________________________________________________] 21.61% 113 p/s971 / 4392 [--------------->________________________________________________________] 22.11% 113 p/s994 / 4392 [---------------->_______________________________________________________] 22.63% 113 p/s1017 / 4392 [---------------->______________________________________________________] 23.16% 113 p/s1040 / 4392 [---------------->______________________________________________________] 23.68% 113 p/s1063 / 4392 [----------------->_____________________________________________________] 24.20% 113 p/s1086 / 4392 [----------------->_____________________________________________________] 24.73% 113 p/s1108 / 4392 [----------------->_____________________________________________________] 25.23% 113 p/s1131 / 4392 [------------------>____________________________________________________] 25.75% 113 p/s1154 / 4392 [------------------>____________________________________________________] 26.28% 113 p/s1176 / 4392 [------------------->___________________________________________________] 26.78% 113 p/s1200 / 4392 [------------------->___________________________________________________] 27.32% 113 p/s1223 / 4392 [------------------->___________________________________________________] 27.85% 113 p/s1245 / 4392 [-------------------->__________________________________________________] 28.35% 113 p/s1268 / 4392 [-------------------->__________________________________________________] 28.87% 113 p/s1291 / 4392 [-------------------->__________________________________________________] 29.39% 113 p/s1314 / 4392 [--------------------->_________________________________________________] 29.92% 114 p/s1336 / 4392 [--------------------->_________________________________________________] 30.42% 114 p/s1359 / 4392 [--------------------->_________________________________________________] 30.94% 114 p/s1382 / 4392 [---------------------->________________________________________________] 31.47% 114 p/s1405 / 4392 [---------------------->________________________________________________] 31.99% 114 p/s1428 / 4392 [----------------------->_______________________________________________] 32.51% 114 p/s1451 / 4392 [----------------------->_______________________________________________] 33.04% 114 p/s1474 / 4392 [----------------------->_______________________________________________] 33.56% 114 p/s1496 / 4392 [------------------------>______________________________________________] 34.06% 114 p/s1519 / 4392 [------------------------>______________________________________________] 34.59% 114 p/s1542 / 4392 [------------------------>______________________________________________] 35.11% 114 p/s1565 / 4392 [------------------------->_____________________________________________] 35.63% 114 p/s1588 / 4392 [------------------------->_____________________________________________] 36.16% 114 p/s1611 / 4392 [-------------------------->____________________________________________] 36.68% 114 p/s1634 / 4392 [-------------------------->____________________________________________] 37.20% 114 p/s1656 / 4392 [-------------------------->____________________________________________] 37.70% 114 p/s1679 / 4392 [--------------------------->___________________________________________] 38.23% 114 p/s1702 / 4392 [--------------------------->___________________________________________] 38.75% 114 p/s1725 / 4392 [--------------------------->___________________________________________] 39.28% 114 p/s1747 / 4392 [---------------------------->__________________________________________] 39.78% 114 p/s1770 / 4392 [---------------------------->__________________________________________] 40.30% 114 p/s1793 / 4392 [---------------------------->__________________________________________] 40.82% 114 p/s1816 / 4392 [----------------------------->_________________________________________] 41.35% 114 p/s1838 / 4392 [----------------------------->_________________________________________] 41.85% 114 p/s1862 / 4392 [------------------------------>________________________________________] 42.40% 114 p/s1884 / 4392 [------------------------------>________________________________________] 42.90% 114 p/s1907 / 4392 [------------------------------>________________________________________] 43.42% 114 p/s1930 / 4392 [------------------------------->_______________________________________] 43.94% 114 p/s1953 / 4392 [------------------------------->_______________________________________] 44.47% 114 p/s1976 / 4392 [------------------------------->_______________________________________] 44.99% 114 p/s1998 / 4392 [-------------------------------->______________________________________] 45.49% 114 p/s2022 / 4392 [-------------------------------->______________________________________] 46.04% 114 p/s2043 / 4392 [--------------------------------->_____________________________________] 46.52% 114 p/s2066 / 4392 [--------------------------------->_____________________________________] 47.04% 114 p/s2089 / 4392 [--------------------------------->_____________________________________] 47.56% 114 p/s2112 / 4392 [---------------------------------->____________________________________] 48.09% 114 p/s2135 / 4392 [---------------------------------->____________________________________] 48.61% 114 p/s2157 / 4392 [---------------------------------->____________________________________] 49.11% 114 p/s2180 / 4392 [----------------------------------->___________________________________] 49.64% 114 p/s2203 / 4392 [----------------------------------->___________________________________] 50.16% 114 p/s2215 / 4392 [----------------------------------->___________________________________] 50.43% 114 p/s2238 / 4392 [------------------------------------>__________________________________] 50.96% 114 p/s2260 / 4392 [------------------------------------>__________________________________] 51.46% 113 p/s2283 / 4392 [------------------------------------>__________________________________] 51.98% 113 p/s2305 / 4392 [------------------------------------->_________________________________] 52.48% 113 p/s2328 / 4392 [------------------------------------->_________________________________] 53.01% 113 p/s2349 / 4392 [------------------------------------->_________________________________] 53.48% 113 p/s2372 / 4392 [-------------------------------------->________________________________] 54.01% 113 p/s2394 / 4392 [-------------------------------------->________________________________] 54.51% 112 p/s2417 / 4392 [--------------------------------------->_______________________________] 55.03% 112 p/s2440 / 4392 [--------------------------------------->_______________________________] 55.56% 112 p/s2463 / 4392 [--------------------------------------->_______________________________] 56.08% 113 p/s2486 / 4392 [---------------------------------------->______________________________] 56.60% 113 p/s2509 / 4392 [---------------------------------------->______________________________] 57.13% 113 p/s2532 / 4392 [---------------------------------------->______________________________] 57.65% 113 p/s2554 / 4392 [----------------------------------------->_____________________________] 58.15% 113 p/s2577 / 4392 [----------------------------------------->_____________________________] 58.67% 113 p/s2599 / 4392 [------------------------------------------>____________________________] 59.18% 113 p/s2622 / 4392 [------------------------------------------>____________________________] 59.70% 113 p/s2645 / 4392 [------------------------------------------>____________________________] 60.22% 113 p/s2668 / 4392 [------------------------------------------->___________________________] 60.75% 113 p/s2691 / 4392 [------------------------------------------->___________________________] 61.27% 113 p/s2714 / 4392 [------------------------------------------->___________________________] 61.79% 113 p/s2737 / 4392 [-------------------------------------------->__________________________] 62.32% 113 p/s2760 / 4392 [-------------------------------------------->__________________________] 62.84% 113 p/s2783 / 4392 [-------------------------------------------->__________________________] 63.37% 113 p/s2806 / 4392 [--------------------------------------------->_________________________] 63.89% 113 p/s2829 / 4392 [--------------------------------------------->_________________________] 64.41% 113 p/s2852 / 4392 [---------------------------------------------->________________________] 64.94% 113 p/s2875 / 4392 [---------------------------------------------->________________________] 65.46% 113 p/s2898 / 4392 [---------------------------------------------->________________________] 65.98% 113 p/s2921 / 4392 [----------------------------------------------->_______________________] 66.51% 113 p/s2943 / 4392 [----------------------------------------------->_______________________] 67.01% 113 p/s2966 / 4392 [----------------------------------------------->_______________________] 67.53% 113 p/s2989 / 4392 [------------------------------------------------>______________________] 68.06% 113 p/s3012 / 4392 [------------------------------------------------>______________________] 68.58% 113 p/s3035 / 4392 [------------------------------------------------->_____________________] 69.10% 113 p/s3058 / 4392 [------------------------------------------------->_____________________] 69.63% 113 p/s3080 / 4392 [------------------------------------------------->_____________________] 70.13% 113 p/s3103 / 4392 [-------------------------------------------------->____________________] 70.65% 113 p/s3126 / 4392 [-------------------------------------------------->____________________] 71.17% 113 p/s3149 / 4392 [-------------------------------------------------->____________________] 71.70% 113 p/s3172 / 4392 [--------------------------------------------------->___________________] 72.22% 113 p/s3195 / 4392 [--------------------------------------------------->___________________] 72.75% 113 p/s3218 / 4392 [---------------------------------------------------->__________________] 73.27% 114 p/s3241 / 4392 [---------------------------------------------------->__________________] 73.79% 114 p/s3264 / 4392 [---------------------------------------------------->__________________] 74.32% 114 p/s3286 / 4392 [----------------------------------------------------->_________________] 74.82% 114 p/s3309 / 4392 [----------------------------------------------------->_________________] 75.34% 114 p/s3332 / 4392 [----------------------------------------------------->_________________] 75.87% 114 p/s3355 / 4392 [------------------------------------------------------>________________] 76.39% 114 p/s3378 / 4392 [------------------------------------------------------>________________] 76.91% 114 p/s3401 / 4392 [------------------------------------------------------>________________] 77.44% 114 p/s3423 / 4392 [------------------------------------------------------->_______________] 77.94% 114 p/s3446 / 4392 [------------------------------------------------------->_______________] 78.46% 114 p/s3469 / 4392 [-------------------------------------------------------->______________] 78.98% 114 p/s3492 / 4392 [-------------------------------------------------------->______________] 79.51% 114 p/s3515 / 4392 [-------------------------------------------------------->______________] 80.03% 114 p/s3538 / 4392 [--------------------------------------------------------->_____________] 80.56% 114 p/s3561 / 4392 [--------------------------------------------------------->_____________] 81.08% 114 p/s3584 / 4392 [--------------------------------------------------------->_____________] 81.60% 114 p/s3607 / 4392 [---------------------------------------------------------->____________] 82.13% 114 p/s3629 / 4392 [---------------------------------------------------------->____________] 82.63% 114 p/s3652 / 4392 [----------------------------------------------------------->___________] 83.15% 114 p/s3675 / 4392 [----------------------------------------------------------->___________] 83.67% 114 p/s3698 / 4392 [----------------------------------------------------------->___________] 84.20% 114 p/s3721 / 4392 [------------------------------------------------------------>__________] 84.72% 114 p/s3744 / 4392 [------------------------------------------------------------>__________] 85.25% 114 p/s3767 / 4392 [------------------------------------------------------------>__________] 85.77% 114 p/s3790 / 4392 [------------------------------------------------------------->_________] 86.29% 114 p/s3813 / 4392 [------------------------------------------------------------->_________] 86.82% 114 p/s3836 / 4392 [-------------------------------------------------------------->________] 87.34% 114 p/s3858 / 4392 [-------------------------------------------------------------->________] 87.84% 114 p/s3881 / 4392 [-------------------------------------------------------------->________] 88.37% 114 p/s3903 / 4392 [--------------------------------------------------------------->_______] 88.87% 114 p/s3926 / 4392 [--------------------------------------------------------------->_______] 89.39% 114 p/s3948 / 4392 [--------------------------------------------------------------->_______] 89.89% 114 p/s3971 / 4392 [---------------------------------------------------------------->______] 90.41% 114 p/s3994 / 4392 [---------------------------------------------------------------->______] 90.94% 114 p/s4017 / 4392 [---------------------------------------------------------------->______] 91.46% 114 p/s4039 / 4392 [----------------------------------------------------------------->_____] 91.96% 114 p/s4062 / 4392 [----------------------------------------------------------------->_____] 92.49% 114 p/s4085 / 4392 [------------------------------------------------------------------>____] 93.01% 114 p/s4107 / 4392 [------------------------------------------------------------------>____] 93.51% 114 p/s4130 / 4392 [------------------------------------------------------------------>____] 94.03% 114 p/s4152 / 4392 [------------------------------------------------------------------->___] 94.54% 114 p/s4175 / 4392 [------------------------------------------------------------------->___] 95.06% 114 p/s4198 / 4392 [------------------------------------------------------------------->___] 95.58% 114 p/s4221 / 4392 [-------------------------------------------------------------------->__] 96.11% 114 p/s4244 / 4392 [-------------------------------------------------------------------->__] 96.63% 114 p/s4266 / 4392 [-------------------------------------------------------------------->__] 97.13% 114 p/s4289 / 4392 [--------------------------------------------------------------------->_] 97.65% 114 p/s4312 / 4392 [--------------------------------------------------------------------->_] 98.18% 114 p/s4335 / 4392 [---------------------------------------------------------------------->] 98.70% 114 p/s4357 / 4392 [---------------------------------------------------------------------->] 99.20% 114 p/s4380 / 4392 [---------------------------------------------------------------------->] 99.73% 114 p/s4392 / 4392 [----------------------------------------------------------------------] 100.00% 114 p/s2026-07-30T04:00:10 - INFO: Parsing 4392 sonar sweeps from /working/80edf19a-3ef9-b1dd-c873-59d0a3c1d52a/tfd/output/SONAR/all-sweeps-info.csv...

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2026-07-30T04:02:52 - INFO: Writing sonar_raw.track.cbor
2026-07-30T04:03:55 - 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/80edf19a-3ef9-b1dd-c873-59d0a3c1d52a/80edf19a-3ef9-b1dd-c873-59d0a3c1d52a"
2026-07-30T04:03:56 - INFO: DataPrep 0.15.2a2
2026-07-30T04:03:56 - INFO: Prepared data will be output to /working/80edf19a-3ef9-b1dd-c873-59d0a3c1d52a/80edf19a-3ef9-b1dd-c873-59d0a3c1d52a/processing/data
2026-07-30T04:03:56 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-30T04:03:56 - deployment - INFO: Detected P3D version: P3D_1
2026-07-30T04:03:56 - INFO: Recording GUID: 80edf19a-3ef9-b1dd-c873-59d0a3c1d52a
2026-07-30T04:03:56 - INFO: Preparing sonar data...
2026-07-30T04:03:56 - INFO: /working/80edf19a-3ef9-b1dd-c873-59d0a3c1d52a/80edf19a-3ef9-b1dd-c873-59d0a3c1d52a/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-30T04:04:00 - INFO: Sonar epoch is 2026-05-05 13:44:40.122678+00:00 (1777988680122678240)
2026-07-30T04:04:00 - INFO: Creating sonar sensor alignment track...
2026-07-30T04:04:00 - INFO: Using sonar rotation of 0.069813 radians for wedge mask
2026-07-30T04:04:00 - INFO: Using sonar digitizer
2026-07-30T04:04:00 - INFO: Sensor speed of sound is 1500 m/s
2026-07-30T04:04:00 - INFO: Sensor range is 1.228080 m
2026-07-30T04:04:00 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-30T04:04:00 - INFO: Scaled micrometres per sample is 4065.009075
2026-07-30T04:04:00 - INFO: Processing 4392 snapshot scans from 4392 source sweeps...
2026-07-30T04:04:00 - INFO: Processing sonar scans with 8 worker processes and chunksize 64

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2026-07-30T04:04:28 - INFO: Applying sonar temporal consistency...
2026-07-30T04:04:41 - INFO: Sonar temporal gap fill (window 2): 1035991 points, 10289 candidate beams, filled 3684
2026-07-30T04:04:43 - INFO: Sonar temporal segment pruning (window 3): removed 19 segments, 219 points
2026-07-30T04:04:49 - INFO: Prepared sonar data in 53.6441 s
2026-07-30T04:04:49 - INFO: No IMU data found
2026-07-30T04:04:50 - INFO: DataPrep took 0:00:54.179823
2026-07-30T04:04:50 - INFO: Extracted sonar data in 0:05:19.306438
2026-07-30T04:04:51 - INFO: MSIP3D took 0:05:20.787620