+ [ 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/8f0d7ae4-7e2a-390f-325f-73ffcc820495
2026-08-12T01:00:23 - INFO: MSIP3D 0.2.11
2026-08-12T01:00:23 - INFO: P3D files will be output to /working/8f0d7ae4-7e2a-390f-325f-73ffcc820495/8f0d7ae4-7e2a-390f-325f-73ffcc820495
2026-08-12T01:00:23 - INFO: Found 17 TFD dictionary entries
2026-08-12T01:00:23 - INFO: Found TFD mission for SS33C-151PI
2026-08-12T01:00:23 - INFO: Recording will be processed as SMD
2026-08-12T01:00:23 - INFO: Copying assets JSON to output directory...
2026-08-12T01:00:23 - INFO: Preparing counter data...
2026-08-12T01:00:23 - INFO: Interpreting counter as imperial
2026-08-12T01:00:23 - INFO: Preparing size track from assets JSON...
2026-08-12T01:00:23 - INFO: Preparing shape track from assets JSON...
2026-08-12T01:00:23 - INFO: Preparing material track from assets JSON...
2026-08-12T01:00:23 - INFO: Prepared counter data in 0.0345 s
2026-08-12T01:00:23 - INFO: Extracting sonar data...
TFD path: /working/8f0d7ae4-7e2a-390f-325f-73ffcc820495/tfd/SS33C-151PI.tfd
TFD path: /working/8f0d7ae4-7e2a-390f-325f-73ffcc820495/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855221467469924931
Name: LASER, Tag: 4855221467469924940
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: CCTV, Tag: 4855221467469924932
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079244958847671
Getting track SONAR
Number of frames: 1686
17 / 1686 [>___________________________________________________________________________] 1.01% ? p/s37 / 1686 [->__________________________________________________________________________] 2.19% ? p/s57 / 1686 [-->_________________________________________________________________________] 3.38% ? p/s77 / 1686 [--->______________________________________________________________________] 4.57% 100 p/s96 / 1686 [---->_____________________________________________________________________] 5.69% 100 p/s116 / 1686 [----->___________________________________________________________________] 6.88% 100 p/s137 / 1686 [----->___________________________________________________________________] 8.13% 100 p/s159 / 1686 [------>__________________________________________________________________] 9.43% 100 p/s179 / 1686 [------->________________________________________________________________] 10.62% 100 p/s199 / 1686 [-------->_______________________________________________________________] 11.80% 100 p/s219 / 1686 [--------->______________________________________________________________] 12.99% 100 p/s239 / 1686 [---------->_____________________________________________________________] 14.18% 100 p/s258 / 1686 [----------->____________________________________________________________] 15.30% 100 p/s278 / 1686 [----------->____________________________________________________________] 16.49% 100 p/s299 / 1686 [------------>___________________________________________________________] 17.73% 100 p/s321 / 1686 [------------->__________________________________________________________] 19.04% 100 p/s344 / 1686 [-------------->_________________________________________________________] 20.40% 100 p/s366 / 1686 [--------------->________________________________________________________] 21.71% 100 p/s388 / 1686 [---------------->_______________________________________________________] 23.01% 101 p/s410 / 1686 [----------------->______________________________________________________] 24.32% 101 p/s433 / 1686 [------------------>_____________________________________________________] 25.68% 101 p/s456 / 1686 [------------------->____________________________________________________] 27.05% 102 p/s478 / 1686 [-------------------->___________________________________________________] 28.35% 102 p/s500 / 1686 [--------------------->__________________________________________________] 29.66% 102 p/s522 / 1686 [---------------------->_________________________________________________] 30.96% 102 p/s544 / 1686 [----------------------->________________________________________________] 32.27% 102 p/s567 / 1686 [------------------------>_______________________________________________] 33.63% 102 p/s589 / 1686 [------------------------->______________________________________________] 34.93% 103 p/s612 / 1686 [-------------------------->_____________________________________________] 36.30% 103 p/s635 / 1686 [--------------------------->____________________________________________] 37.66% 103 p/s657 / 1686 [---------------------------->___________________________________________] 38.97% 104 p/s680 / 1686 [----------------------------->__________________________________________] 40.33% 104 p/s702 / 1686 [----------------------------->__________________________________________] 41.64% 104 p/s725 / 1686 [------------------------------>_________________________________________] 43.00% 104 p/s748 / 1686 [------------------------------->________________________________________] 44.37% 104 p/s770 / 1686 [-------------------------------->_______________________________________] 45.67% 104 p/s793 / 1686 [--------------------------------->______________________________________] 47.03% 105 p/s815 / 1686 [---------------------------------->_____________________________________] 48.34% 105 p/s838 / 1686 [----------------------------------->____________________________________] 49.70% 105 p/s861 / 1686 [------------------------------------>___________________________________] 51.07% 105 p/s883 / 1686 [------------------------------------->__________________________________] 52.37% 105 p/s906 / 1686 [-------------------------------------->_________________________________] 53.74% 105 p/s928 / 1686 [--------------------------------------->________________________________] 55.04% 106 p/s951 / 1686 [---------------------------------------->_______________________________] 56.41% 106 p/s974 / 1686 [----------------------------------------->______________________________] 57.77% 106 p/s996 / 1686 [------------------------------------------>_____________________________] 59.07% 106 p/s1018 / 1686 [------------------------------------------>____________________________] 60.38% 106 p/s1041 / 1686 [------------------------------------------->___________________________] 61.74% 106 p/s1063 / 1686 [-------------------------------------------->__________________________] 63.05% 107 p/s1086 / 1686 [--------------------------------------------->_________________________] 64.41% 107 p/s1109 / 1686 [---------------------------------------------->________________________] 65.78% 107 p/s1131 / 1686 [----------------------------------------------->_______________________] 67.08% 107 p/s1154 / 1686 [------------------------------------------------>______________________] 68.45% 107 p/s1176 / 1686 [------------------------------------------------->_____________________] 69.75% 107 p/s1199 / 1686 [-------------------------------------------------->____________________] 71.12% 108 p/s1221 / 1686 [--------------------------------------------------->___________________] 72.42% 108 p/s1244 / 1686 [---------------------------------------------------->__________________] 73.78% 108 p/s1267 / 1686 [----------------------------------------------------->_________________] 75.15% 108 p/s1290 / 1686 [------------------------------------------------------>________________] 76.51% 108 p/s1312 / 1686 [------------------------------------------------------->_______________] 77.82% 108 p/s1335 / 1686 [-------------------------------------------------------->______________] 79.18% 108 p/s1358 / 1686 [--------------------------------------------------------->_____________] 80.55% 108 p/s1380 / 1686 [---------------------------------------------------------->____________] 81.85% 108 p/s1403 / 1686 [----------------------------------------------------------->___________] 83.21% 109 p/s1426 / 1686 [------------------------------------------------------------>__________] 84.58% 109 p/s1448 / 1686 [------------------------------------------------------------>__________] 85.88% 109 p/s1470 / 1686 [------------------------------------------------------------->_________] 87.19% 109 p/s1491 / 1686 [-------------------------------------------------------------->________] 88.43% 109 p/s1514 / 1686 [--------------------------------------------------------------->_______] 89.80% 109 p/s1537 / 1686 [---------------------------------------------------------------->______] 91.16% 109 p/s1559 / 1686 [----------------------------------------------------------------->_____] 92.47% 109 p/s1582 / 1686 [------------------------------------------------------------------>____] 93.83% 109 p/s1604 / 1686 [------------------------------------------------------------------->___] 95.14% 109 p/s1627 / 1686 [-------------------------------------------------------------------->__] 96.50% 109 p/s1648 / 1686 [--------------------------------------------------------------------->_] 97.75% 109 p/s1668 / 1686 [---------------------------------------------------------------------->] 98.93% 109 p/s1686 / 1686 [----------------------------------------------------------------------] 100.00% 111 p/s2026-08-12T01:00:38 - INFO: Parsing 1686 sonar sweeps from /working/8f0d7ae4-7e2a-390f-325f-73ffcc820495/tfd/output/SONAR/all-sweeps-info.csv...

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2026-08-12T01:01:41 - INFO: Writing sonar_raw.track.cbor
2026-08-12T01:02:05 - 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 /working/8f0d7ae4-7e2a-390f-325f-73ffcc820495/8f0d7ae4-7e2a-390f-325f-73ffcc820495"
2026-08-12T01:02:05 - INFO: DataPrep 0.15.2a2
2026-08-12T01:02:05 - INFO: Prepared data will be output to /working/8f0d7ae4-7e2a-390f-325f-73ffcc820495/8f0d7ae4-7e2a-390f-325f-73ffcc820495/processing/data
2026-08-12T01:02:05 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-08-12T01:02:05 - deployment - INFO: Detected P3D version: P3D_1
2026-08-12T01:02:05 - INFO: Recording GUID: 8f0d7ae4-7e2a-390f-325f-73ffcc820495
2026-08-12T01:02:05 - INFO: Preparing sonar data...
2026-08-12T01:02:05 - INFO: /working/8f0d7ae4-7e2a-390f-325f-73ffcc820495/8f0d7ae4-7e2a-390f-325f-73ffcc820495/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-08-12T01:02:07 - INFO: Sonar epoch is 2026-02-26 16:51:28.722327+00:00 (1772124688722326808)
2026-08-12T01:02:07 - INFO: Creating sonar sensor alignment track...
2026-08-12T01:02:07 - INFO: Using sonar rotation of -0.052360 radians for wedge mask
2026-08-12T01:02:07 - INFO: Using sonar digitizer
2026-08-12T01:02:07 - INFO: Sensor speed of sound is 1500 m/s
2026-08-12T01:02:07 - INFO: Sensor range is 1.083600 m
2026-08-12T01:02:07 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-08-12T01:02:07 - INFO: Scaled micrometres per sample is 3586.772759
2026-08-12T01:02:07 - INFO: Processing 1686 snapshot scans from 1686 source sweeps...
2026-08-12T01:02:07 - INFO: Processing sonar scans with 8 worker processes and chunksize 52

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2026-08-12T01:02:21 - INFO: Applying sonar temporal consistency...
2026-08-12T01:02:26 - INFO: Sonar temporal gap fill (window 2): 351025 points, 13504 candidate beams, filled 12567
2026-08-12T01:02:26 - INFO: Sonar temporal segment pruning (window 3): removed 49 segments, 449 points
2026-08-12T01:02:29 - INFO: Prepared sonar data in 23.3696 s
2026-08-12T01:02:29 - INFO: No IMU data found
2026-08-12T01:02:29 - INFO: DataPrep took 0:00:23.572331
2026-08-12T01:02:29 - INFO: Extracted sonar data in 0:02:06.212503
2026-08-12T01:02:29 - INFO: MSIP3D took 0:02:06.608047