+ [ 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
2026-08-14T17:42:03 - INFO: MSIP3D 0.2.11
2026-08-14T17:42:03 - INFO: P3D files will be output to /working/8f0d7ae4-7e2a-390f-325f-73ffcc820495/8f0d7ae4-7e2a-390f-325f-73ffcc820495
2026-08-14T17:42:03 - INFO: Found 17 TFD dictionary entries
2026-08-14T17:42:03 - INFO: Found TFD mission for SS33C-151PI
2026-08-14T17:42:03 - INFO: Recording will be processed as SMD
2026-08-14T17:42:03 - INFO: Copying assets JSON to output directory...
2026-08-14T17:42:03 - INFO: Preparing counter data...
2026-08-14T17:42:03 - INFO: Interpreting counter as imperial
2026-08-14T17:42:03 - INFO: Preparing size track from assets JSON...
2026-08-14T17:42:03 - INFO: Preparing shape track from assets JSON...
2026-08-14T17:42:03 - INFO: Preparing material track from assets JSON...
2026-08-14T17:42:03 - INFO: Prepared counter data in 0.0641 s
2026-08-14T17:42:03 - 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: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855221467469924931
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012079244958847671
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855221467469924940
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: CCTV, Tag: 4855221467469924932
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 1686
18 / 1686 [>___________________________________________________________________________] 1.07% ? p/s37 / 1686 [->__________________________________________________________________________] 2.19% ? p/s56 / 1686 [-->_________________________________________________________________________] 3.32% ? p/s74 / 1686 [--->_______________________________________________________________________] 4.39% 93 p/s93 / 1686 [---->______________________________________________________________________] 5.52% 93 p/s111 / 1686 [---->_____________________________________________________________________] 6.58% 93 p/s130 / 1686 [----->____________________________________________________________________] 7.71% 93 p/s151 / 1686 [------>___________________________________________________________________] 8.96% 93 p/s171 / 1686 [------->_________________________________________________________________] 10.14% 93 p/s190 / 1686 [-------->________________________________________________________________] 11.27% 94 p/s209 / 1686 [--------->_______________________________________________________________] 12.40% 94 p/s229 / 1686 [--------->_______________________________________________________________] 13.58% 94 p/s248 / 1686 [---------->______________________________________________________________] 14.71% 94 p/s266 / 1686 [----------->_____________________________________________________________] 15.78% 94 p/s285 / 1686 [------------>____________________________________________________________] 16.90% 94 p/s306 / 1686 [------------->___________________________________________________________] 18.15% 94 p/s328 / 1686 [-------------->__________________________________________________________] 19.45% 94 p/s349 / 1686 [--------------->_________________________________________________________] 20.70% 94 p/s371 / 1686 [---------------->________________________________________________________] 22.00% 95 p/s393 / 1686 [----------------->_______________________________________________________] 23.31% 95 p/s414 / 1686 [----------------->_______________________________________________________] 24.56% 95 p/s435 / 1686 [------------------>______________________________________________________] 25.80% 96 p/s457 / 1686 [------------------->_____________________________________________________] 27.11% 96 p/s478 / 1686 [-------------------->____________________________________________________] 28.35% 96 p/s500 / 1686 [--------------------->___________________________________________________] 29.66% 97 p/s521 / 1686 [---------------------->__________________________________________________] 30.90% 97 p/s543 / 1686 [----------------------->_________________________________________________] 32.21% 97 p/s565 / 1686 [------------------------>________________________________________________] 33.51% 97 p/s586 / 1686 [------------------------->_______________________________________________] 34.76% 97 p/s608 / 1686 [-------------------------->______________________________________________] 36.06% 97 p/s629 / 1686 [--------------------------->_____________________________________________] 37.31% 98 p/s651 / 1686 [---------------------------->____________________________________________] 38.61% 98 p/s672 / 1686 [----------------------------->___________________________________________] 39.86% 98 p/s694 / 1686 [------------------------------>__________________________________________] 41.16% 99 p/s715 / 1686 [------------------------------>__________________________________________] 42.41% 99 p/s737 / 1686 [------------------------------->_________________________________________] 43.71% 99 p/s759 / 1686 [-------------------------------->________________________________________] 45.02% 99 p/s780 / 1686 [--------------------------------->_______________________________________] 46.26% 99 p/s802 / 1686 [---------------------------------->______________________________________] 47.57% 99 p/s823 / 1686 [----------------------------------->____________________________________] 48.81% 100 p/s845 / 1686 [------------------------------------>___________________________________] 50.12% 100 p/s867 / 1686 [------------------------------------->__________________________________] 51.42% 100 p/s888 / 1686 [------------------------------------->__________________________________] 52.67% 100 p/s910 / 1686 [-------------------------------------->_________________________________] 53.97% 100 p/s931 / 1686 [--------------------------------------->________________________________] 55.22% 100 p/s953 / 1686 [---------------------------------------->_______________________________] 56.52% 101 p/s975 / 1686 [----------------------------------------->______________________________] 57.83% 101 p/s997 / 1686 [------------------------------------------>_____________________________] 59.13% 101 p/s1018 / 1686 [------------------------------------------>____________________________] 60.38% 101 p/s1040 / 1686 [------------------------------------------->___________________________] 61.68% 101 p/s1062 / 1686 [-------------------------------------------->__________________________] 62.99% 101 p/s1082 / 1686 [--------------------------------------------->_________________________] 64.18% 102 p/s1104 / 1686 [---------------------------------------------->________________________] 65.48% 102 p/s1126 / 1686 [----------------------------------------------->_______________________] 66.79% 102 p/s1147 / 1686 [------------------------------------------------>______________________] 68.03% 102 p/s1169 / 1686 [------------------------------------------------->_____________________] 69.34% 102 p/s1191 / 1686 [-------------------------------------------------->____________________] 70.64% 102 p/s1213 / 1686 [--------------------------------------------------->___________________] 71.95% 103 p/s1235 / 1686 [---------------------------------------------------->__________________] 73.25% 103 p/s1257 / 1686 [---------------------------------------------------->__________________] 74.56% 103 p/s1279 / 1686 [----------------------------------------------------->_________________] 75.86% 103 p/s1300 / 1686 [------------------------------------------------------>________________] 77.11% 103 p/s1322 / 1686 [------------------------------------------------------->_______________] 78.41% 103 p/s1344 / 1686 [-------------------------------------------------------->______________] 79.72% 103 p/s1365 / 1686 [--------------------------------------------------------->_____________] 80.96% 103 p/s1387 / 1686 [---------------------------------------------------------->____________] 82.27% 103 p/s1408 / 1686 [----------------------------------------------------------->___________] 83.51% 104 p/s1430 / 1686 [------------------------------------------------------------>__________] 84.82% 104 p/s1452 / 1686 [------------------------------------------------------------->_________] 86.12% 104 p/s1473 / 1686 [-------------------------------------------------------------->________] 87.37% 104 p/s1495 / 1686 [-------------------------------------------------------------->________] 88.67% 104 p/s1517 / 1686 [--------------------------------------------------------------->_______] 89.98% 104 p/s1539 / 1686 [---------------------------------------------------------------->______] 91.28% 104 p/s1560 / 1686 [----------------------------------------------------------------->_____] 92.53% 104 p/s1582 / 1686 [------------------------------------------------------------------>____] 93.83% 104 p/s1603 / 1686 [------------------------------------------------------------------->___] 95.08% 104 p/s1625 / 1686 [-------------------------------------------------------------------->__] 96.38% 104 p/s1645 / 1686 [--------------------------------------------------------------------->_] 97.57% 104 p/s1665 / 1686 [---------------------------------------------------------------------->] 98.75% 104 p/s1685 / 1686 [---------------------------------------------------------------------->] 99.94% 104 p/s1686 / 1686 [----------------------------------------------------------------------] 100.00% 107 p/s2026-08-14T17:42:19 - INFO: Parsing 1686 sonar sweeps from /working/8f0d7ae4-7e2a-390f-325f-73ffcc820495/tfd/output/SONAR/all-sweeps-info.csv...

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2026-08-14T17:43:24 - INFO: Writing sonar_raw.track.cbor
2026-08-14T17:43:49 - 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"
2026-08-14T17:43:50 - INFO: DataPrep 0.15.2a2
2026-08-14T17:43:50 - INFO: Prepared data will be output to /working/8f0d7ae4-7e2a-390f-325f-73ffcc820495/8f0d7ae4-7e2a-390f-325f-73ffcc820495/processing/data
2026-08-14T17:43:50 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-08-14T17:43:50 - deployment - INFO: Detected P3D version: P3D_1
2026-08-14T17:43:50 - INFO: Recording GUID: 8f0d7ae4-7e2a-390f-325f-73ffcc820495
2026-08-14T17:43:50 - INFO: Preparing sonar data...
2026-08-14T17:43:50 - INFO: /working/8f0d7ae4-7e2a-390f-325f-73ffcc820495/8f0d7ae4-7e2a-390f-325f-73ffcc820495/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-08-14T17:43:51 - INFO: Sonar epoch is 2026-02-26 16:51:28.722327+00:00 (1772124688722326808)
2026-08-14T17:43:51 - INFO: Creating sonar sensor alignment track...
2026-08-14T17:43:51 - INFO: Using sonar rotation of -0.052360 radians for wedge mask
2026-08-14T17:43:51 - INFO: Using sonar digitizer
2026-08-14T17:43:51 - INFO: Sensor speed of sound is 1500 m/s
2026-08-14T17:43:51 - INFO: Sensor range is 1.083600 m
2026-08-14T17:43:51 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-08-14T17:43:51 - INFO: Scaled micrometres per sample is 3586.772759
2026-08-14T17:43:51 - INFO: Processing 1686 snapshot scans from 1686 source sweeps...
2026-08-14T17:43:51 - INFO: Processing sonar scans with 8 worker processes and chunksize 52

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2026-08-14T17:44:06 - INFO: Applying sonar temporal consistency...
2026-08-14T17:44:11 - INFO: Sonar temporal gap fill (window 2): 351025 points, 13504 candidate beams, filled 12567
2026-08-14T17:44:11 - INFO: Sonar temporal segment pruning (window 3): removed 49 segments, 449 points
2026-08-14T17:44:14 - INFO: Prepared sonar data in 23.6125 s
2026-08-14T17:44:14 - INFO: No IMU data found
2026-08-14T17:44:14 - INFO: DataPrep took 0:00:23.828417
2026-08-14T17:44:14 - INFO: Extracted sonar data in 0:02:10.798187
2026-08-14T17:44:14 - INFO: MSIP3D took 0:02:11.234632