+ [ 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
2026-08-14T19:57:56 - INFO: MSIP3D 0.2.11
2026-08-14T19:57:56 - INFO: P3D files will be output to /working/8f0d7ae4-7e2a-390f-325f-73ffcc820495/8f0d7ae4-7e2a-390f-325f-73ffcc820495
2026-08-14T19:57:56 - INFO: Found 17 TFD dictionary entries
2026-08-14T19:57:56 - INFO: Found TFD mission for SS33C-151PI
2026-08-14T19:57:56 - INFO: Recording will be processed as SMD
2026-08-14T19:57:56 - INFO: Copying assets JSON to output directory...
2026-08-14T19:57:56 - INFO: Preparing counter data...
2026-08-14T19:57:56 - INFO: Interpreting counter as imperial
2026-08-14T19:57:56 - INFO: Preparing size track from assets JSON...
2026-08-14T19:57:56 - INFO: Preparing shape track from assets JSON...
2026-08-14T19:57:56 - INFO: Preparing material track from assets JSON...
2026-08-14T19:57:56 - INFO: Prepared counter data in 0.0587 s
2026-08-14T19:57:56 - 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: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: CCTV, Tag: 4855221467469924932
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079244958847671
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855221467469924931
Name: LASER, Tag: 4855221467469924940
Getting track SONAR
Number of frames: 1686
18 / 1686 [>___________________________________________________________________________] 1.07% ? p/s37 / 1686 [->__________________________________________________________________________] 2.19% ? p/s57 / 1686 [-->_________________________________________________________________________] 3.38% ? p/s77 / 1686 [--->_______________________________________________________________________] 4.57% 98 p/s96 / 1686 [---->______________________________________________________________________] 5.69% 98 p/s114 / 1686 [----->____________________________________________________________________] 6.76% 98 p/s135 / 1686 [----->____________________________________________________________________] 8.01% 98 p/s157 / 1686 [------>___________________________________________________________________] 9.31% 98 p/s177 / 1686 [------->_________________________________________________________________] 10.50% 98 p/s197 / 1686 [-------->________________________________________________________________] 11.68% 99 p/s216 / 1686 [--------->_______________________________________________________________] 12.81% 99 p/s235 / 1686 [---------->______________________________________________________________] 13.94% 99 p/s254 / 1686 [---------->______________________________________________________________] 15.07% 98 p/s274 / 1686 [----------->_____________________________________________________________] 16.25% 98 p/s294 / 1686 [------------>____________________________________________________________] 17.44% 98 p/s316 / 1686 [------------->___________________________________________________________] 18.74% 99 p/s338 / 1686 [-------------->__________________________________________________________] 20.05% 99 p/s360 / 1686 [--------------->_________________________________________________________] 21.35% 99 p/s382 / 1686 [---------------->________________________________________________________] 22.66% 99 p/s404 / 1686 [----------------->_______________________________________________________] 23.96% 99 p/s427 / 1686 [------------------>______________________________________________________] 25.33% 99 p/s449 / 1686 [------------------->____________________________________________________] 26.63% 100 p/s472 / 1686 [-------------------->___________________________________________________] 28.00% 100 p/s493 / 1686 [--------------------->__________________________________________________] 29.24% 100 p/s515 / 1686 [--------------------->__________________________________________________] 30.55% 101 p/s538 / 1686 [---------------------->_________________________________________________] 31.91% 101 p/s560 / 1686 [----------------------->________________________________________________] 33.21% 101 p/s582 / 1686 [------------------------>_______________________________________________] 34.52% 102 p/s605 / 1686 [------------------------->______________________________________________] 35.88% 102 p/s627 / 1686 [-------------------------->_____________________________________________] 37.19% 102 p/s649 / 1686 [--------------------------->____________________________________________] 38.49% 102 p/s671 / 1686 [---------------------------->___________________________________________] 39.80% 102 p/s694 / 1686 [----------------------------->__________________________________________] 41.16% 102 p/s716 / 1686 [------------------------------>_________________________________________] 42.47% 103 p/s738 / 1686 [------------------------------->________________________________________] 43.77% 103 p/s761 / 1686 [-------------------------------->_______________________________________] 45.14% 103 p/s783 / 1686 [--------------------------------->______________________________________] 46.44% 103 p/s806 / 1686 [---------------------------------->_____________________________________] 47.81% 103 p/s828 / 1686 [----------------------------------->____________________________________] 49.11% 103 p/s850 / 1686 [------------------------------------>___________________________________] 50.42% 104 p/s873 / 1686 [------------------------------------->__________________________________] 51.78% 104 p/s895 / 1686 [-------------------------------------->_________________________________] 53.08% 104 p/s918 / 1686 [--------------------------------------->________________________________] 54.45% 105 p/s940 / 1686 [---------------------------------------->_______________________________] 55.75% 105 p/s962 / 1686 [----------------------------------------->______________________________] 57.06% 105 p/s984 / 1686 [------------------------------------------>_____________________________] 58.36% 105 p/s1007 / 1686 [------------------------------------------>____________________________] 59.73% 105 p/s1029 / 1686 [------------------------------------------->___________________________] 61.03% 105 p/s1051 / 1686 [-------------------------------------------->__________________________] 62.34% 105 p/s1073 / 1686 [--------------------------------------------->_________________________] 63.64% 105 p/s1096 / 1686 [---------------------------------------------->________________________] 65.01% 105 p/s1118 / 1686 [----------------------------------------------->_______________________] 66.31% 106 p/s1139 / 1686 [----------------------------------------------->_______________________] 67.56% 106 p/s1161 / 1686 [------------------------------------------------>______________________] 68.86% 106 p/s1184 / 1686 [------------------------------------------------->_____________________] 70.23% 106 p/s1206 / 1686 [-------------------------------------------------->____________________] 71.53% 106 p/s1229 / 1686 [--------------------------------------------------->___________________] 72.89% 106 p/s1251 / 1686 [---------------------------------------------------->__________________] 74.20% 106 p/s1273 / 1686 [----------------------------------------------------->_________________] 75.50% 106 p/s1296 / 1686 [------------------------------------------------------>________________] 76.87% 106 p/s1318 / 1686 [------------------------------------------------------->_______________] 78.17% 107 p/s1340 / 1686 [-------------------------------------------------------->______________] 79.48% 107 p/s1363 / 1686 [--------------------------------------------------------->_____________] 80.84% 107 p/s1385 / 1686 [---------------------------------------------------------->____________] 82.15% 107 p/s1408 / 1686 [----------------------------------------------------------->___________] 83.51% 107 p/s1430 / 1686 [------------------------------------------------------------>__________] 84.82% 107 p/s1453 / 1686 [------------------------------------------------------------->_________] 86.18% 107 p/s1475 / 1686 [-------------------------------------------------------------->________] 87.49% 107 p/s1497 / 1686 [--------------------------------------------------------------->_______] 88.79% 107 p/s1519 / 1686 [--------------------------------------------------------------->_______] 90.09% 108 p/s1542 / 1686 [---------------------------------------------------------------->______] 91.46% 108 p/s1564 / 1686 [----------------------------------------------------------------->_____] 92.76% 108 p/s1586 / 1686 [------------------------------------------------------------------>____] 94.07% 108 p/s1609 / 1686 [------------------------------------------------------------------->___] 95.43% 108 p/s1630 / 1686 [-------------------------------------------------------------------->__] 96.68% 108 p/s1650 / 1686 [--------------------------------------------------------------------->_] 97.86% 108 p/s1670 / 1686 [---------------------------------------------------------------------->] 99.05% 108 p/s1686 / 1686 [----------------------------------------------------------------------] 100.00% 110 p/s2026-08-14T19:58:12 - INFO: Parsing 1686 sonar sweeps from /working/8f0d7ae4-7e2a-390f-325f-73ffcc820495/tfd/output/SONAR/all-sweeps-info.csv...

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2026-08-14T19:59:15 - INFO: Writing sonar_raw.track.cbor
2026-08-14T19:59:39 - 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"
2026-08-14T19:59:40 - INFO: DataPrep 0.15.2a2
2026-08-14T19:59:40 - INFO: Prepared data will be output to /working/8f0d7ae4-7e2a-390f-325f-73ffcc820495/8f0d7ae4-7e2a-390f-325f-73ffcc820495/processing/data
2026-08-14T19:59:40 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-08-14T19:59:40 - deployment - INFO: Detected P3D version: P3D_1
2026-08-14T19:59:40 - INFO: Recording GUID: 8f0d7ae4-7e2a-390f-325f-73ffcc820495
2026-08-14T19:59:40 - INFO: Preparing sonar data...
2026-08-14T19:59:40 - INFO: /working/8f0d7ae4-7e2a-390f-325f-73ffcc820495/8f0d7ae4-7e2a-390f-325f-73ffcc820495/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-08-14T19:59:41 - INFO: Sonar epoch is 2026-02-26 16:51:28.722327+00:00 (1772124688722326808)
2026-08-14T19:59:41 - INFO: Creating sonar sensor alignment track...
2026-08-14T19:59:41 - INFO: Using sonar rotation of -0.052360 radians for wedge mask
2026-08-14T19:59:41 - INFO: Using sonar digitizer
2026-08-14T19:59:41 - INFO: Sensor speed of sound is 1500 m/s
2026-08-14T19:59:41 - INFO: Sensor range is 1.083600 m
2026-08-14T19:59:41 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-08-14T19:59:41 - INFO: Scaled micrometres per sample is 3586.772759
2026-08-14T19:59:41 - INFO: Processing 1686 snapshot scans from 1686 source sweeps...
2026-08-14T19:59:41 - INFO: Processing sonar scans with 8 worker processes and chunksize 52

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2026-08-14T19:59:55 - INFO: Applying sonar temporal consistency...
2026-08-14T20:00:00 - INFO: Sonar temporal gap fill (window 2): 351025 points, 13504 candidate beams, filled 12567
2026-08-14T20:00:01 - INFO: Sonar temporal segment pruning (window 3): removed 49 segments, 449 points
2026-08-14T20:00:03 - INFO: Prepared sonar data in 23.3128 s
2026-08-14T20:00:03 - INFO: No IMU data found
2026-08-14T20:00:03 - INFO: DataPrep took 0:00:23.523983
2026-08-14T20:00:03 - INFO: Extracted sonar data in 0:02:06.741997
2026-08-14T20:00:04 - INFO: MSIP3D took 0:02:07.164470