+ [ 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/3174c6d5-9593-6398-00e1-1af22d611547
2026-08-12T01:05:37 - INFO: MSIP3D 0.2.11
2026-08-12T01:05:37 - INFO: P3D files will be output to /working/3174c6d5-9593-6398-00e1-1af22d611547/3174c6d5-9593-6398-00e1-1af22d611547
2026-08-12T01:05:37 - INFO: Found 17 TFD dictionary entries
2026-08-12T01:05:37 - INFO: Found TFD mission for SS33D-360PI
2026-08-12T01:05:37 - INFO: Recording will be processed as SMD
2026-08-12T01:05:37 - INFO: Copying assets JSON to output directory...
2026-08-12T01:05:37 - INFO: Preparing counter data...
2026-08-12T01:05:37 - INFO: Interpreting counter as imperial
2026-08-12T01:05:37 - INFO: Preparing size track from assets JSON...
2026-08-12T01:05:37 - INFO: Preparing shape track from assets JSON...
2026-08-12T01:05:37 - INFO: Preparing material track from assets JSON...
2026-08-12T01:05:37 - INFO: Prepared counter data in 0.0992 s
2026-08-12T01:05:37 - INFO: Extracting sonar data...
TFD path: /working/3174c6d5-9593-6398-00e1-1af22d611547/tfd/SS33D-360PI.tfd
TFD path: /working/3174c6d5-9593-6398-00e1-1af22d611547/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855221467469924932
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079244958847671
Name: LASER, Tag: 4855221467469924940
Name: CCTV, Tag: 4855221467469924931
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: Index, Tag: 5291276999180902239
Getting track SONAR
Number of frames: 4292
19 / 4292 [>___________________________________________________________________________] 0.44% ? p/s39 / 4292 [>___________________________________________________________________________] 0.91% ? p/s59 / 4292 [->__________________________________________________________________________] 1.37% ? p/s79 / 4292 [->________________________________________________________________________] 1.84% 100 p/s99 / 4292 [->________________________________________________________________________] 2.31% 100 p/s119 / 4292 [-->______________________________________________________________________] 2.77% 100 p/s139 / 4292 [-->______________________________________________________________________] 3.24% 100 p/s159 / 4292 [-->______________________________________________________________________] 3.70% 100 p/s177 / 4292 [--->_____________________________________________________________________] 4.12% 100 p/s197 / 4292 [--->_____________________________________________________________________] 4.59% 100 p/s215 / 4292 [--->_____________________________________________________________________] 5.01% 100 p/s235 / 4292 [--->_____________________________________________________________________] 5.48% 100 p/s243 / 4292 [---->_____________________________________________________________________] 5.66% 98 p/s262 / 4292 [---->_____________________________________________________________________] 6.10% 98 p/s282 / 4292 [---->_____________________________________________________________________] 6.57% 98 p/s303 / 4292 [----->____________________________________________________________________] 7.06% 98 p/s326 / 4292 [----->____________________________________________________________________] 7.60% 98 p/s349 / 4292 [------>___________________________________________________________________] 8.13% 98 p/s372 / 4292 [------>___________________________________________________________________] 8.67% 99 p/s395 / 4292 [------>___________________________________________________________________] 9.20% 99 p/s417 / 4292 [------->__________________________________________________________________] 9.72% 99 p/s440 / 4292 [------->________________________________________________________________] 10.25% 100 p/s462 / 4292 [------->________________________________________________________________] 10.76% 100 p/s485 / 4292 [-------->_______________________________________________________________] 11.30% 100 p/s507 / 4292 [-------->_______________________________________________________________] 11.81% 101 p/s530 / 4292 [-------->_______________________________________________________________] 12.35% 101 p/s553 / 4292 [--------->______________________________________________________________] 12.88% 101 p/s575 / 4292 [--------->______________________________________________________________] 13.40% 102 p/s598 / 4292 [---------->_____________________________________________________________] 13.93% 102 p/s621 / 4292 [---------->_____________________________________________________________] 14.47% 102 p/s644 / 4292 [---------->_____________________________________________________________] 15.00% 103 p/s667 / 4292 [----------->____________________________________________________________] 15.54% 103 p/s690 / 4292 [----------->____________________________________________________________] 16.08% 103 p/s713 / 4292 [----------->____________________________________________________________] 16.61% 104 p/s736 / 4292 [------------>___________________________________________________________] 17.15% 104 p/s759 / 4292 [------------>___________________________________________________________] 17.68% 104 p/s782 / 4292 [------------->__________________________________________________________] 18.22% 104 p/s805 / 4292 [------------->__________________________________________________________] 18.76% 104 p/s824 / 4292 [------------->__________________________________________________________] 19.20% 104 p/s847 / 4292 [-------------->_________________________________________________________] 19.73% 105 p/s870 / 4292 [-------------->_________________________________________________________] 20.27% 105 p/s893 / 4292 [-------------->_________________________________________________________] 20.81% 105 p/s916 / 4292 [--------------->________________________________________________________] 21.34% 105 p/s939 / 4292 [--------------->________________________________________________________] 21.88% 105 p/s962 / 4292 [---------------->_______________________________________________________] 22.41% 105 p/s985 / 4292 [---------------->_______________________________________________________] 22.95% 106 p/s1008 / 4292 [---------------->______________________________________________________] 23.49% 106 p/s1030 / 4292 [----------------->_____________________________________________________] 24.00% 106 p/s1053 / 4292 [----------------->_____________________________________________________] 24.53% 106 p/s1076 / 4292 [----------------->_____________________________________________________] 25.07% 106 p/s1099 / 4292 [------------------>____________________________________________________] 25.61% 106 p/s1122 / 4292 [------------------>____________________________________________________] 26.14% 107 p/s1145 / 4292 [------------------>____________________________________________________] 26.68% 107 p/s1169 / 4292 [------------------->___________________________________________________] 27.24% 107 p/s1192 / 4292 [------------------->___________________________________________________] 27.77% 108 p/s1214 / 4292 [-------------------->__________________________________________________] 28.29% 108 p/s1237 / 4292 [-------------------->__________________________________________________] 28.82% 108 p/s1260 / 4292 [-------------------->__________________________________________________] 29.36% 108 p/s1283 / 4292 [--------------------->_________________________________________________] 29.89% 108 p/s1306 / 4292 [--------------------->_________________________________________________] 30.43% 108 p/s1329 / 4292 [--------------------->_________________________________________________] 30.96% 108 p/s1352 / 4292 [---------------------->________________________________________________] 31.50% 108 p/s1376 / 4292 [---------------------->________________________________________________] 32.06% 108 p/s1399 / 4292 [----------------------->_______________________________________________] 32.60% 109 p/s1422 / 4292 [----------------------->_______________________________________________] 33.13% 109 p/s1445 / 4292 [----------------------->_______________________________________________] 33.67% 109 p/s1468 / 4292 [------------------------>______________________________________________] 34.20% 109 p/s1491 / 4292 [------------------------>______________________________________________] 34.74% 109 p/s1515 / 4292 [------------------------->_____________________________________________] 35.30% 109 p/s1538 / 4292 [------------------------->_____________________________________________] 35.83% 110 p/s1561 / 4292 [------------------------->_____________________________________________] 36.37% 110 p/s1584 / 4292 [-------------------------->____________________________________________] 36.91% 110 p/s1608 / 4292 [-------------------------->____________________________________________] 37.47% 110 p/s1631 / 4292 [-------------------------->____________________________________________] 38.00% 110 p/s1654 / 4292 [--------------------------->___________________________________________] 38.54% 110 p/s1677 / 4292 [--------------------------->___________________________________________] 39.07% 111 p/s1700 / 4292 [---------------------------->__________________________________________] 39.61% 111 p/s1724 / 4292 [---------------------------->__________________________________________] 40.17% 111 p/s1747 / 4292 [---------------------------->__________________________________________] 40.70% 111 p/s1770 / 4292 [----------------------------->_________________________________________] 41.24% 111 p/s1793 / 4292 [----------------------------->_________________________________________] 41.78% 111 p/s1817 / 4292 [------------------------------>________________________________________] 42.33% 111 p/s1840 / 4292 [------------------------------>________________________________________] 42.87% 111 p/s1863 / 4292 [------------------------------>________________________________________] 43.41% 111 p/s1887 / 4292 [------------------------------->_______________________________________] 43.97% 112 p/s1910 / 4292 [------------------------------->_______________________________________] 44.50% 112 p/s1933 / 4292 [------------------------------->_______________________________________] 45.04% 112 p/s1956 / 4292 [-------------------------------->______________________________________] 45.57% 112 p/s1979 / 4292 [-------------------------------->______________________________________] 46.11% 112 p/s2002 / 4292 [--------------------------------->_____________________________________] 46.64% 112 p/s2025 / 4292 [--------------------------------->_____________________________________] 47.18% 112 p/s2047 / 4292 [--------------------------------->_____________________________________] 47.69% 112 p/s2070 / 4292 [---------------------------------->____________________________________] 48.23% 112 p/s2094 / 4292 [---------------------------------->____________________________________] 48.79% 112 p/s2117 / 4292 [----------------------------------->___________________________________] 49.32% 112 p/s2140 / 4292 [----------------------------------->___________________________________] 49.86% 112 p/s2163 / 4292 [----------------------------------->___________________________________] 50.40% 112 p/s2186 / 4292 [------------------------------------>__________________________________] 50.93% 112 p/s2210 / 4292 [------------------------------------>__________________________________] 51.49% 112 p/s2233 / 4292 [------------------------------------>__________________________________] 52.03% 113 p/s2256 / 4292 [------------------------------------->_________________________________] 52.56% 113 p/s2279 / 4292 [------------------------------------->_________________________________] 53.10% 113 p/s2302 / 4292 [-------------------------------------->________________________________] 53.63% 113 p/s2325 / 4292 [-------------------------------------->________________________________] 54.17% 113 p/s2349 / 4292 [-------------------------------------->________________________________] 54.73% 113 p/s2372 / 4292 [--------------------------------------->_______________________________] 55.27% 113 p/s2395 / 4292 [--------------------------------------->_______________________________] 55.80% 113 p/s2418 / 4292 [--------------------------------------->_______________________________] 56.34% 113 p/s2441 / 4292 [---------------------------------------->______________________________] 56.87% 113 p/s2464 / 4292 [---------------------------------------->______________________________] 57.41% 113 p/s2483 / 4292 [----------------------------------------->_____________________________] 57.85% 111 p/s2491 / 4292 [----------------------------------------->_____________________________] 58.04% 111 p/s2514 / 4292 [----------------------------------------->_____________________________] 58.57% 111 p/s2537 / 4292 [----------------------------------------->_____________________________] 59.11% 111 p/s2560 / 4292 [------------------------------------------>____________________________] 59.65% 111 p/s2583 / 4292 [------------------------------------------>____________________________] 60.18% 111 p/s2606 / 4292 [------------------------------------------->___________________________] 60.72% 111 p/s2629 / 4292 [------------------------------------------->___________________________] 61.25% 112 p/s2652 / 4292 [------------------------------------------->___________________________] 61.79% 112 p/s2675 / 4292 [-------------------------------------------->__________________________] 62.33% 112 p/s2698 / 4292 [-------------------------------------------->__________________________] 62.86% 112 p/s2721 / 4292 [--------------------------------------------->_________________________] 63.40% 112 p/s2744 / 4292 [--------------------------------------------->_________________________] 63.93% 112 p/s2767 / 4292 [--------------------------------------------->_________________________] 64.47% 112 p/s2790 / 4292 [---------------------------------------------->________________________] 65.00% 112 p/s2813 / 4292 [---------------------------------------------->________________________] 65.54% 112 p/s2836 / 4292 [---------------------------------------------->________________________] 66.08% 112 p/s2859 / 4292 [----------------------------------------------->_______________________] 66.61% 112 p/s2882 / 4292 [----------------------------------------------->_______________________] 67.15% 112 p/s2905 / 4292 [------------------------------------------------>______________________] 67.68% 112 p/s2928 / 4292 [------------------------------------------------>______________________] 68.22% 112 p/s2951 / 4292 [------------------------------------------------>______________________] 68.76% 112 p/s2974 / 4292 [------------------------------------------------->_____________________] 69.29% 112 p/s2996 / 4292 [------------------------------------------------->_____________________] 69.80% 112 p/s3019 / 4292 [------------------------------------------------->_____________________] 70.34% 112 p/s3042 / 4292 [-------------------------------------------------->____________________] 70.88% 113 p/s3065 / 4292 [-------------------------------------------------->____________________] 71.41% 113 p/s3088 / 4292 [--------------------------------------------------->___________________] 71.95% 113 p/s3111 / 4292 [--------------------------------------------------->___________________] 72.48% 113 p/s3134 / 4292 [--------------------------------------------------->___________________] 73.02% 113 p/s3158 / 4292 [---------------------------------------------------->__________________] 73.58% 113 p/s3181 / 4292 [---------------------------------------------------->__________________] 74.11% 113 p/s3204 / 4292 [----------------------------------------------------->_________________] 74.65% 113 p/s3227 / 4292 [----------------------------------------------------->_________________] 75.19% 113 p/s3250 / 4292 [----------------------------------------------------->_________________] 75.72% 113 p/s3273 / 4292 [------------------------------------------------------>________________] 76.26% 113 p/s3296 / 4292 [------------------------------------------------------>________________] 76.79% 113 p/s3319 / 4292 [------------------------------------------------------>________________] 77.33% 113 p/s3342 / 4292 [------------------------------------------------------->_______________] 77.87% 113 p/s3365 / 4292 [------------------------------------------------------->_______________] 78.40% 113 p/s3388 / 4292 [-------------------------------------------------------->______________] 78.94% 113 p/s3411 / 4292 [-------------------------------------------------------->______________] 79.47% 113 p/s3434 / 4292 [-------------------------------------------------------->______________] 80.01% 113 p/s3457 / 4292 [--------------------------------------------------------->_____________] 80.55% 113 p/s3480 / 4292 [--------------------------------------------------------->_____________] 81.08% 113 p/s3503 / 4292 [--------------------------------------------------------->_____________] 81.62% 113 p/s3526 / 4292 [---------------------------------------------------------->____________] 82.15% 114 p/s3549 / 4292 [---------------------------------------------------------->____________] 82.69% 114 p/s3572 / 4292 [----------------------------------------------------------->___________] 83.22% 114 p/s3595 / 4292 [----------------------------------------------------------->___________] 83.76% 114 p/s3618 / 4292 [----------------------------------------------------------->___________] 84.30% 114 p/s3641 / 4292 [------------------------------------------------------------>__________] 84.83% 114 p/s3664 / 4292 [------------------------------------------------------------>__________] 85.37% 114 p/s3687 / 4292 [------------------------------------------------------------>__________] 85.90% 114 p/s3710 / 4292 [------------------------------------------------------------->_________] 86.44% 114 p/s3733 / 4292 [------------------------------------------------------------->_________] 86.98% 114 p/s3756 / 4292 [-------------------------------------------------------------->________] 87.51% 114 p/s3779 / 4292 [-------------------------------------------------------------->________] 88.05% 114 p/s3802 / 4292 [-------------------------------------------------------------->________] 88.58% 114 p/s3825 / 4292 [--------------------------------------------------------------->_______] 89.12% 114 p/s3848 / 4292 [--------------------------------------------------------------->_______] 89.66% 114 p/s3871 / 4292 [---------------------------------------------------------------->______] 90.19% 114 p/s3894 / 4292 [---------------------------------------------------------------->______] 90.73% 114 p/s3917 / 4292 [---------------------------------------------------------------->______] 91.26% 114 p/s3940 / 4292 [----------------------------------------------------------------->_____] 91.80% 114 p/s3963 / 4292 [----------------------------------------------------------------->_____] 92.33% 114 p/s3986 / 4292 [----------------------------------------------------------------->_____] 92.87% 114 p/s4009 / 4292 [------------------------------------------------------------------>____] 93.41% 114 p/s4032 / 4292 [------------------------------------------------------------------>____] 93.94% 114 p/s4055 / 4292 [------------------------------------------------------------------->___] 94.48% 114 p/s4078 / 4292 [------------------------------------------------------------------->___] 95.01% 114 p/s4100 / 4292 [------------------------------------------------------------------->___] 95.53% 114 p/s4123 / 4292 [-------------------------------------------------------------------->__] 96.06% 114 p/s4146 / 4292 [-------------------------------------------------------------------->__] 96.60% 114 p/s4169 / 4292 [-------------------------------------------------------------------->__] 97.13% 114 p/s4192 / 4292 [--------------------------------------------------------------------->_] 97.67% 114 p/s4215 / 4292 [--------------------------------------------------------------------->_] 98.21% 114 p/s4238 / 4292 [---------------------------------------------------------------------->] 98.74% 114 p/s4261 / 4292 [---------------------------------------------------------------------->] 99.28% 114 p/s4283 / 4292 [---------------------------------------------------------------------->] 99.79% 114 p/s4292 / 4292 [----------------------------------------------------------------------] 100.00% 113 p/s2026-08-12T01:06:15 - INFO: Parsing 4292 sonar sweeps from /working/3174c6d5-9593-6398-00e1-1af22d611547/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/4292 [00:00<?, ?it/s]
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  1%|▏         | 60/4292 [00:02<02:41, 26.13it/s]
  1%|▏         | 63/4292 [00:02<02:41, 26.22it/s]
  2%|▏         | 66/4292 [00:02<02:41, 26.23it/s]
  2%|▏         | 69/4292 [00:02<02:41, 26.22it/s]
  2%|▏         | 72/4292 [00:02<02:40, 26.26it/s]
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  2%|▏         | 90/4292 [00:03<02:42, 25.93it/s]
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  2%|▏         | 105/4292 [00:04<02:44, 25.47it/s]
  3%|▎         | 108/4292 [00:04<02:43, 25.63it/s]
  3%|▎         | 111/4292 [00:04<02:43, 25.56it/s]
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2026-08-12T01:10:08 - WARNING: Expected 400 beams, got 154, dropping sweep 4291
2026-08-12T01:10:08 - INFO: Writing sonar_raw.track.cbor
2026-08-12T01:11:14 - 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/3174c6d5-9593-6398-00e1-1af22d611547/3174c6d5-9593-6398-00e1-1af22d611547"
2026-08-12T01:11:15 - INFO: DataPrep 0.15.2a2
2026-08-12T01:11:15 - INFO: Prepared data will be output to /working/3174c6d5-9593-6398-00e1-1af22d611547/3174c6d5-9593-6398-00e1-1af22d611547/processing/data
2026-08-12T01:11:15 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-08-12T01:11:15 - deployment - INFO: Detected P3D version: P3D_1
2026-08-12T01:11:15 - INFO: Recording GUID: 3174c6d5-9593-6398-00e1-1af22d611547
2026-08-12T01:11:15 - INFO: Preparing sonar data...
2026-08-12T01:11:15 - INFO: /working/3174c6d5-9593-6398-00e1-1af22d611547/3174c6d5-9593-6398-00e1-1af22d611547/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-08-12T01:11:19 - INFO: Sonar epoch is 2026-02-25 16:43:52.066740+00:00 (1772037832066740252)
2026-08-12T01:11:19 - INFO: Creating sonar sensor alignment track...
2026-08-12T01:11:19 - INFO: Using sonar rotation of -0.017453 radians for wedge mask
2026-08-12T01:11:19 - INFO: Using sonar digitizer
2026-08-12T01:11:19 - INFO: Sensor speed of sound is 1500 m/s
2026-08-12T01:11:19 - INFO: Sensor range is 1.228080 m
2026-08-12T01:11:19 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-08-12T01:11:19 - INFO: Scaled micrometres per sample is 4065.009075
2026-08-12T01:11:19 - INFO: Processing 4291 snapshot scans from 4291 source sweeps...
2026-08-12T01:11:19 - INFO: Processing sonar scans with 8 worker processes and chunksize 64

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2026-08-12T01:11:50 - INFO: Applying sonar temporal consistency...
2026-08-12T01:12:02 - INFO: Sonar temporal gap fill (window 2): 701158 points, 22796 candidate beams, filled 21137
2026-08-12T01:12:03 - INFO: Sonar temporal segment pruning (window 3): removed 147 segments, 1647 points
2026-08-12T01:12:08 - INFO: Prepared sonar data in 52.9669 s
2026-08-12T01:12:08 - INFO: No IMU data found
2026-08-12T01:12:08 - INFO: DataPrep took 0:00:53.430258
2026-08-12T01:12:08 - INFO: Extracted sonar data in 0:06:31.351018
2026-08-12T01:12:10 - INFO: MSIP3D took 0:06:32.477704