+ [ 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
+ python -m dataprep -v -f --write-result --result-path /working/result.json --counter --no-video --no-laser --sonar --sonar-detection-method hessian-ridge --sonar-temporal-window 2 /working/32f5b6ed-2c47-4fcd-bb6a-e1295574a173
2026-08-09T22:39:25 - INFO: DataPrep 0.15.2a3
2026-08-09T22:39:25 - INFO: Prepared data will be output to /working/32f5b6ed-2c47-4fcd-bb6a-e1295574a173/processing/data
2026-08-09T22:39:25 - deployment - INFO: Detected P3D version: P3D_2
2026-08-09T22:39:25 - INFO: Recording GUID: 32f5b6ed-2c47-4fcd-bb6a-e1295574a173
2026-08-09T22:39:25 - INFO: Preparing payout data...
2026-08-09T22:39:25 - INFO: Interpreting counter as metric
2026-08-09T22:39:25 - INFO: Preparing size track from assets JSON...
2026-08-09T22:39:25 - INFO: Preparing shape track from assets JSON...
2026-08-09T22:39:25 - INFO: Preparing material track from assets JSON...
2026-08-09T22:39:25 - INFO: Prepared payout data in 0.0376 s
2026-08-09T22:39:25 - INFO: Preparing sonar data...
2026-08-09T22:39:25 - INFO: /working/32f5b6ed-2c47-4fcd-bb6a-e1295574a173/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-08-09T22:39:26 - INFO: Sonar epoch is 2026-05-20 17:06:57.950595+00:00 (1779296817950594656)
2026-08-09T22:39:49 - INFO: Creating sonar sensor alignment track...
2026-08-09T22:39:49 - INFO: Using sonar rotation of -0.052360 radians for wedge mask
2026-08-09T22:39:49 - INFO: Using sonar digitizer
2026-08-09T22:39:49 - INFO: Sensor speed of sound is 1500 m/s
2026-08-09T22:39:49 - INFO: Sensor range is 2.300000 m
2026-08-09T22:39:49 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-08-09T22:39:49 - INFO: Scaled micrometres per sample is 2864.436402
2026-08-09T22:39:49 - INFO: Processing 664 snapshot scans from 664 source sweeps...
2026-08-09T22:39:49 - INFO: Processing sonar scans with 8 worker processes and chunksize 20

  0%|          | 0/664 [00:00<?, ?scan/s]
  0%|          | 1/664 [00:02<23:22,  2.12s/scan]
  3%|▎         | 21/664 [00:02<00:50, 12.82scan/s]
  6%|▌         | 41/664 [00:02<00:24, 25.61scan/s]
  9%|▉         | 61/664 [00:02<00:15, 39.26scan/s]
 12%|█▏        | 81/664 [00:02<00:11, 49.74scan/s]
 15%|█▌        | 101/664 [00:03<00:08, 65.83scan/s]
 24%|██▍       | 161/664 [00:04<00:09, 50.83scan/s]
 27%|██▋       | 181/664 [00:04<00:08, 56.78scan/s]
 30%|███       | 201/664 [00:04<00:06, 68.17scan/s]
 33%|███▎      | 221/664 [00:04<00:06, 73.55scan/s]
 36%|███▋      | 241/664 [00:05<00:04, 85.34scan/s]
 42%|████▏     | 281/664 [00:05<00:03, 117.21scan/s]
 45%|████▌     | 301/664 [00:05<00:03, 110.69scan/s]
 48%|████▊     | 321/664 [00:06<00:06, 51.48scan/s] 
 51%|█████▏    | 341/664 [00:06<00:05, 58.08scan/s]
 54%|█████▍    | 361/664 [00:06<00:04, 68.09scan/s]
 57%|█████▋    | 381/664 [00:07<00:04, 69.67scan/s]
 60%|██████    | 401/664 [00:07<00:03, 81.68scan/s]
 63%|██████▎   | 421/664 [00:07<00:02, 93.31scan/s]
 66%|██████▋   | 441/664 [00:07<00:02, 102.84scan/s]
 69%|██████▉   | 461/664 [00:07<00:01, 105.20scan/s]
 72%|███████▏  | 481/664 [00:08<00:03, 49.45scan/s] 
 75%|███████▌  | 501/664 [00:08<00:02, 58.47scan/s]
 78%|███████▊  | 521/664 [00:09<00:02, 59.70scan/s]
 82%|████████▏ | 545/664 [00:09<00:01, 70.54scan/s]
 85%|████████▌ | 565/664 [00:09<00:01, 78.23scan/s]
 91%|█████████ | 605/664 [00:09<00:00, 119.51scan/s]
 97%|█████████▋| 645/664 [00:10<00:00, 83.46scan/s] 
100%|██████████| 664/664 [00:10<00:00, 64.26scan/s]
2026-08-09T22:40:00 - INFO: Applying sonar temporal consistency...
2026-08-09T22:40:02 - INFO: Sonar temporal gap fill (window 2): 103866 points, 8241 candidate beams, filled 6727
2026-08-09T22:40:03 - INFO: Sonar temporal segment pruning (window 3): removed 113 segments, 1220 points
2026-08-09T22:40:04 - INFO: Prepared sonar data in 38.7735 s
2026-08-09T22:40:04 - INFO: No IMU data found
2026-08-09T22:40:04 - INFO: DataPrep took 0:00:39.408346