+ [ 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
2026-08-14T21:07:58 - INFO: MSIP3D 0.2.11
2026-08-14T21:07:58 - INFO: P3D files will be output to /working/3174c6d5-9593-6398-00e1-1af22d611547/3174c6d5-9593-6398-00e1-1af22d611547
2026-08-14T21:07:58 - INFO: Found 17 TFD dictionary entries
2026-08-14T21:07:58 - INFO: Found TFD mission for SS33D-360PI
2026-08-14T21:07:58 - INFO: Recording will be processed as SMD
2026-08-14T21:07:58 - INFO: Copying assets JSON to output directory...
2026-08-14T21:07:58 - INFO: Preparing counter data...
2026-08-14T21:07:58 - INFO: Interpreting counter as imperial
2026-08-14T21:07:58 - INFO: Preparing size track from assets JSON...
2026-08-14T21:07:58 - INFO: Preparing shape track from assets JSON...
2026-08-14T21:07:58 - INFO: Preparing material track from assets JSON...
2026-08-14T21:07:58 - INFO: Prepared counter data in 0.0967 s
2026-08-14T21:07:58 - 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: LASER, Tag: 4855221467469924940
Name: CCTV, Tag: 4855221467469924932
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855221467469924931
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR, Tag: 6012079244958847671
Getting track SONAR
Number of frames: 4292
19 / 4292 [>___________________________________________________________________________] 0.44% ? p/s38 / 4292 [>___________________________________________________________________________] 0.89% ? p/s57 / 4292 [->__________________________________________________________________________] 1.33% ? p/s76 / 4292 [->_________________________________________________________________________] 1.77% 95 p/s96 / 4292 [->_________________________________________________________________________] 2.24% 95 p/s115 / 4292 [->________________________________________________________________________] 2.68% 95 p/s135 / 4292 [-->_______________________________________________________________________] 3.15% 95 p/s154 / 4292 [-->_______________________________________________________________________] 3.59% 95 p/s175 / 4292 [--->______________________________________________________________________] 4.08% 95 p/s194 / 4292 [--->______________________________________________________________________] 4.52% 95 p/s214 / 4292 [--->______________________________________________________________________] 4.99% 95 p/s234 / 4292 [---->_____________________________________________________________________] 5.45% 95 p/s253 / 4292 [---->_____________________________________________________________________] 5.89% 96 p/s273 / 4292 [---->_____________________________________________________________________] 6.36% 96 p/s293 / 4292 [----->____________________________________________________________________] 6.83% 96 p/s314 / 4292 [----->____________________________________________________________________] 7.32% 96 p/s337 / 4292 [----->____________________________________________________________________] 7.85% 96 p/s359 / 4292 [------>___________________________________________________________________] 8.36% 96 p/s381 / 4292 [------>___________________________________________________________________] 8.88% 97 p/s403 / 4292 [------>___________________________________________________________________] 9.39% 97 p/s426 / 4292 [------->__________________________________________________________________] 9.93% 97 p/s448 / 4292 [------->_________________________________________________________________] 10.44% 98 p/s470 / 4292 [------->_________________________________________________________________] 10.95% 98 p/s493 / 4292 [-------->________________________________________________________________] 11.49% 98 p/s514 / 4292 [-------->________________________________________________________________] 11.98% 99 p/s536 / 4292 [--------->_______________________________________________________________] 12.49% 99 p/s559 / 4292 [--------->_______________________________________________________________] 13.02% 99 p/s581 / 4292 [--------->______________________________________________________________] 13.54% 100 p/s604 / 4292 [---------->_____________________________________________________________] 14.07% 100 p/s625 / 4292 [---------->_____________________________________________________________] 14.56% 100 p/s648 / 4292 [---------->_____________________________________________________________] 15.10% 100 p/s670 / 4292 [----------->____________________________________________________________] 15.61% 100 p/s692 / 4292 [----------->____________________________________________________________] 16.12% 100 p/s714 / 4292 [----------->____________________________________________________________] 16.64% 101 p/s737 / 4292 [------------>___________________________________________________________] 17.17% 101 p/s760 / 4292 [------------>___________________________________________________________] 17.71% 101 p/s782 / 4292 [------------->__________________________________________________________] 18.22% 102 p/s805 / 4292 [------------->__________________________________________________________] 18.76% 102 p/s828 / 4292 [------------->__________________________________________________________] 19.29% 102 p/s850 / 4292 [-------------->_________________________________________________________] 19.80% 103 p/s872 / 4292 [-------------->_________________________________________________________] 20.32% 103 p/s895 / 4292 [--------------->________________________________________________________] 20.85% 103 p/s918 / 4292 [--------------->________________________________________________________] 21.39% 103 p/s941 / 4292 [--------------->________________________________________________________] 21.92% 103 p/s963 / 4292 [---------------->_______________________________________________________] 22.44% 103 p/s986 / 4292 [---------------->_______________________________________________________] 22.97% 104 p/s1009 / 4292 [---------------->______________________________________________________] 23.51% 104 p/s1031 / 4292 [----------------->_____________________________________________________] 24.02% 104 p/s1054 / 4292 [----------------->_____________________________________________________] 24.56% 104 p/s1076 / 4292 [----------------->_____________________________________________________] 25.07% 104 p/s1099 / 4292 [------------------>____________________________________________________] 25.61% 104 p/s1121 / 4292 [------------------>____________________________________________________] 26.12% 105 p/s1143 / 4292 [------------------>____________________________________________________] 26.63% 105 p/s1166 / 4292 [------------------->___________________________________________________] 27.17% 105 p/s1188 / 4292 [------------------->___________________________________________________] 27.68% 105 p/s1210 / 4292 [-------------------->__________________________________________________] 28.19% 105 p/s1233 / 4292 [-------------------->__________________________________________________] 28.73% 105 p/s1255 / 4292 [-------------------->__________________________________________________] 29.24% 106 p/s1278 / 4292 [--------------------->_________________________________________________] 29.78% 106 p/s1300 / 4292 [--------------------->_________________________________________________] 30.29% 106 p/s1322 / 4292 [--------------------->_________________________________________________] 30.80% 106 p/s1345 / 4292 [---------------------->________________________________________________] 31.34% 106 p/s1368 / 4292 [---------------------->________________________________________________] 31.87% 106 p/s1390 / 4292 [---------------------->________________________________________________] 32.39% 107 p/s1413 / 4292 [----------------------->_______________________________________________] 32.92% 107 p/s1436 / 4292 [----------------------->_______________________________________________] 33.46% 107 p/s1458 / 4292 [------------------------>______________________________________________] 33.97% 107 p/s1481 / 4292 [------------------------>______________________________________________] 34.51% 107 p/s1504 / 4292 [------------------------>______________________________________________] 35.04% 107 p/s1527 / 4292 [------------------------->_____________________________________________] 35.58% 108 p/s1550 / 4292 [------------------------->_____________________________________________] 36.11% 108 p/s1572 / 4292 [-------------------------->____________________________________________] 36.63% 108 p/s1595 / 4292 [-------------------------->____________________________________________] 37.16% 108 p/s1618 / 4292 [-------------------------->____________________________________________] 37.70% 108 p/s1641 / 4292 [--------------------------->___________________________________________] 38.23% 108 p/s1664 / 4292 [--------------------------->___________________________________________] 38.77% 108 p/s1687 / 4292 [--------------------------->___________________________________________] 39.31% 108 p/s1709 / 4292 [---------------------------->__________________________________________] 39.82% 108 p/s1732 / 4292 [---------------------------->__________________________________________] 40.35% 109 p/s1755 / 4292 [----------------------------->_________________________________________] 40.89% 109 p/s1778 / 4292 [----------------------------->_________________________________________] 41.43% 109 p/s1801 / 4292 [----------------------------->_________________________________________] 41.96% 109 p/s1824 / 4292 [------------------------------>________________________________________] 42.50% 109 p/s1847 / 4292 [------------------------------>________________________________________] 43.03% 109 p/s1869 / 4292 [------------------------------>________________________________________] 43.55% 109 p/s1892 / 4292 [------------------------------->_______________________________________] 44.08% 109 p/s1915 / 4292 [------------------------------->_______________________________________] 44.62% 109 p/s1937 / 4292 [-------------------------------->______________________________________] 45.13% 110 p/s1960 / 4292 [-------------------------------->______________________________________] 45.67% 110 p/s1982 / 4292 [-------------------------------->______________________________________] 46.18% 110 p/s2005 / 4292 [--------------------------------->_____________________________________] 46.71% 110 p/s2028 / 4292 [--------------------------------->_____________________________________] 47.25% 110 p/s2050 / 4292 [--------------------------------->_____________________________________] 47.76% 110 p/s2073 / 4292 [---------------------------------->____________________________________] 48.30% 110 p/s2095 / 4292 [---------------------------------->____________________________________] 48.81% 110 p/s2118 / 4292 [----------------------------------->___________________________________] 49.35% 110 p/s2141 / 4292 [----------------------------------->___________________________________] 49.88% 110 p/s2163 / 4292 [----------------------------------->___________________________________] 50.40% 110 p/s2186 / 4292 [------------------------------------>__________________________________] 50.93% 110 p/s2209 / 4292 [------------------------------------>__________________________________] 51.47% 111 p/s2231 / 4292 [------------------------------------>__________________________________] 51.98% 111 p/s2254 / 4292 [------------------------------------->_________________________________] 52.52% 111 p/s2277 / 4292 [------------------------------------->_________________________________] 53.05% 111 p/s2299 / 4292 [-------------------------------------->________________________________] 53.56% 111 p/s2321 / 4292 [-------------------------------------->________________________________] 54.08% 111 p/s2343 / 4292 [-------------------------------------->________________________________] 54.59% 111 p/s2366 / 4292 [--------------------------------------->_______________________________] 55.13% 111 p/s2388 / 4292 [--------------------------------------->_______________________________] 55.64% 111 p/s2411 / 4292 [--------------------------------------->_______________________________] 56.17% 111 p/s2434 / 4292 [---------------------------------------->______________________________] 56.71% 111 p/s2456 / 4292 [---------------------------------------->______________________________] 57.22% 111 p/s2478 / 4292 [---------------------------------------->______________________________] 57.74% 111 p/s2501 / 4292 [----------------------------------------->_____________________________] 58.27% 111 p/s2524 / 4292 [----------------------------------------->_____________________________] 58.81% 111 p/s2546 / 4292 [------------------------------------------>____________________________] 59.32% 111 p/s2568 / 4292 [------------------------------------------>____________________________] 59.83% 111 p/s2591 / 4292 [------------------------------------------>____________________________] 60.37% 111 p/s2613 / 4292 [------------------------------------------->___________________________] 60.88% 111 p/s2636 / 4292 [------------------------------------------->___________________________] 61.42% 111 p/s2658 / 4292 [------------------------------------------->___________________________] 61.93% 111 p/s2681 / 4292 [-------------------------------------------->__________________________] 62.47% 111 p/s2704 / 4292 [-------------------------------------------->__________________________] 63.00% 111 p/s2726 / 4292 [--------------------------------------------->_________________________] 63.51% 111 p/s2748 / 4292 [--------------------------------------------->_________________________] 64.03% 111 p/s2771 / 4292 [--------------------------------------------->_________________________] 64.56% 111 p/s2793 / 4292 [---------------------------------------------->________________________] 65.07% 111 p/s2816 / 4292 [---------------------------------------------->________________________] 65.61% 111 p/s2838 / 4292 [---------------------------------------------->________________________] 66.12% 111 p/s2861 / 4292 [----------------------------------------------->_______________________] 66.66% 111 p/s2883 / 4292 [----------------------------------------------->_______________________] 67.17% 111 p/s2905 / 4292 [------------------------------------------------>______________________] 67.68% 111 p/s2928 / 4292 [------------------------------------------------>______________________] 68.22% 111 p/s2950 / 4292 [------------------------------------------------>______________________] 68.73% 111 p/s2972 / 4292 [------------------------------------------------->_____________________] 69.25% 111 p/s2994 / 4292 [------------------------------------------------->_____________________] 69.76% 111 p/s3017 / 4292 [------------------------------------------------->_____________________] 70.29% 111 p/s3040 / 4292 [-------------------------------------------------->____________________] 70.83% 111 p/s3062 / 4292 [-------------------------------------------------->____________________] 71.34% 111 p/s3085 / 4292 [--------------------------------------------------->___________________] 71.88% 112 p/s3108 / 4292 [--------------------------------------------------->___________________] 72.41% 112 p/s3130 / 4292 [--------------------------------------------------->___________________] 72.93% 112 p/s3153 / 4292 [---------------------------------------------------->__________________] 73.46% 112 p/s3176 / 4292 [---------------------------------------------------->__________________] 74.00% 112 p/s3199 / 4292 [---------------------------------------------------->__________________] 74.53% 112 p/s3222 / 4292 [----------------------------------------------------->_________________] 75.07% 112 p/s3245 / 4292 [----------------------------------------------------->_________________] 75.61% 112 p/s3267 / 4292 [------------------------------------------------------>________________] 76.12% 112 p/s3290 / 4292 [------------------------------------------------------>________________] 76.65% 112 p/s3312 / 4292 [------------------------------------------------------>________________] 77.17% 112 p/s3335 / 4292 [------------------------------------------------------->_______________] 77.70% 112 p/s3357 / 4292 [------------------------------------------------------->_______________] 78.22% 112 p/s3380 / 4292 [------------------------------------------------------->_______________] 78.75% 112 p/s3403 / 4292 [-------------------------------------------------------->______________] 79.29% 112 p/s3425 / 4292 [-------------------------------------------------------->______________] 79.80% 112 p/s3447 / 4292 [--------------------------------------------------------->_____________] 80.31% 112 p/s3470 / 4292 [--------------------------------------------------------->_____________] 80.85% 112 p/s3493 / 4292 [--------------------------------------------------------->_____________] 81.38% 112 p/s3515 / 4292 [---------------------------------------------------------->____________] 81.90% 112 p/s3538 / 4292 [---------------------------------------------------------->____________] 82.43% 112 p/s3560 / 4292 [---------------------------------------------------------->____________] 82.95% 112 p/s3583 / 4292 [----------------------------------------------------------->___________] 83.48% 112 p/s3605 / 4292 [----------------------------------------------------------->___________] 83.99% 112 p/s3627 / 4292 [----------------------------------------------------------->___________] 84.51% 112 p/s3650 / 4292 [------------------------------------------------------------>__________] 85.04% 112 p/s3673 / 4292 [------------------------------------------------------------>__________] 85.58% 112 p/s3696 / 4292 [------------------------------------------------------------->_________] 86.11% 112 p/s3718 / 4292 [------------------------------------------------------------->_________] 86.63% 112 p/s3740 / 4292 [------------------------------------------------------------->_________] 87.14% 112 p/s3763 / 4292 [-------------------------------------------------------------->________] 87.67% 112 p/s3785 / 4292 [-------------------------------------------------------------->________] 88.19% 112 p/s3807 / 4292 [-------------------------------------------------------------->________] 88.70% 112 p/s3830 / 4292 [--------------------------------------------------------------->_______] 89.24% 112 p/s3853 / 4292 [--------------------------------------------------------------->_______] 89.77% 112 p/s3875 / 4292 [---------------------------------------------------------------->______] 90.28% 112 p/s3898 / 4292 [---------------------------------------------------------------->______] 90.82% 112 p/s3920 / 4292 [---------------------------------------------------------------->______] 91.33% 112 p/s3943 / 4292 [----------------------------------------------------------------->_____] 91.87% 112 p/s3965 / 4292 [----------------------------------------------------------------->_____] 92.38% 112 p/s3988 / 4292 [----------------------------------------------------------------->_____] 92.92% 112 p/s4010 / 4292 [------------------------------------------------------------------>____] 93.43% 112 p/s4032 / 4292 [------------------------------------------------------------------>____] 93.94% 112 p/s4055 / 4292 [------------------------------------------------------------------->___] 94.48% 112 p/s4077 / 4292 [------------------------------------------------------------------->___] 94.99% 112 p/s4098 / 4292 [------------------------------------------------------------------->___] 95.48% 112 p/s4121 / 4292 [-------------------------------------------------------------------->__] 96.02% 112 p/s4143 / 4292 [-------------------------------------------------------------------->__] 96.53% 112 p/s4166 / 4292 [-------------------------------------------------------------------->__] 97.06% 112 p/s4188 / 4292 [--------------------------------------------------------------------->_] 97.58% 112 p/s4211 / 4292 [--------------------------------------------------------------------->_] 98.11% 112 p/s4233 / 4292 [---------------------------------------------------------------------->] 98.63% 112 p/s4256 / 4292 [---------------------------------------------------------------------->] 99.16% 112 p/s4278 / 4292 [---------------------------------------------------------------------->] 99.67% 112 p/s4292 / 4292 [----------------------------------------------------------------------] 100.00% 112 p/s2026-08-14T21:08:37 - 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%|          | 48/4292 [00:01<02:42, 26.08it/s]
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  1%|▏         | 54/4292 [00:02<02:42, 26.12it/s]
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  2%|▏         | 66/4292 [00:02<02:42, 25.94it/s]
  2%|▏         | 69/4292 [00:02<02:42, 25.99it/s]
  2%|▏         | 72/4292 [00:02<02:41, 26.06it/s]
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  2%|▏         | 90/4292 [00:03<02:43, 25.64it/s]
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  2%|▏         | 102/4292 [00:03<02:40, 26.07it/s]
  2%|▏         | 105/4292 [00:04<02:40, 26.13it/s]
  3%|▎         | 108/4292 [00:04<02:40, 26.11it/s]
  3%|▎         | 111/4292 [00:04<02:39, 26.14it/s]
  3%|▎         | 114/4292 [00:04<02:40, 26.07it/s]
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2026-08-14T21:11:21 - WARNING: Expected 400 beams, got 154, dropping sweep 4291
2026-08-14T21:11:21 - INFO: Writing sonar_raw.track.cbor
2026-08-14T21:12:23 - 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"
2026-08-14T21:12:23 - INFO: DataPrep 0.15.2a2
2026-08-14T21:12:23 - INFO: Prepared data will be output to /working/3174c6d5-9593-6398-00e1-1af22d611547/3174c6d5-9593-6398-00e1-1af22d611547/processing/data
2026-08-14T21:12:23 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-08-14T21:12:23 - deployment - INFO: Detected P3D version: P3D_1
2026-08-14T21:12:23 - INFO: Recording GUID: 3174c6d5-9593-6398-00e1-1af22d611547
2026-08-14T21:12:23 - INFO: Preparing sonar data...
2026-08-14T21:12:23 - INFO: /working/3174c6d5-9593-6398-00e1-1af22d611547/3174c6d5-9593-6398-00e1-1af22d611547/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-08-14T21:12:27 - INFO: Sonar epoch is 2026-02-25 16:43:52.066740+00:00 (1772037832066740252)
2026-08-14T21:12:27 - INFO: Creating sonar sensor alignment track...
2026-08-14T21:12:27 - INFO: Using sonar rotation of -0.017453 radians for wedge mask
2026-08-14T21:12:27 - INFO: Using sonar digitizer
2026-08-14T21:12:27 - INFO: Sensor speed of sound is 1500 m/s
2026-08-14T21:12:27 - INFO: Sensor range is 1.228080 m
2026-08-14T21:12:27 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-08-14T21:12:27 - INFO: Scaled micrometres per sample is 4065.009075
2026-08-14T21:12:27 - INFO: Processing 4291 snapshot scans from 4291 source sweeps...
2026-08-14T21:12:27 - INFO: Processing sonar scans with 8 worker processes and chunksize 64

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2026-08-14T21:12:59 - INFO: Applying sonar temporal consistency...
2026-08-14T21:13:11 - INFO: Sonar temporal gap fill (window 2): 701158 points, 22796 candidate beams, filled 21137
2026-08-14T21:13:12 - INFO: Sonar temporal segment pruning (window 3): removed 147 segments, 1647 points
2026-08-14T21:13:16 - INFO: Prepared sonar data in 52.8413 s
2026-08-14T21:13:16 - INFO: No IMU data found
2026-08-14T21:13:17 - INFO: DataPrep took 0:00:53.301669
2026-08-14T21:13:17 - INFO: Extracted sonar data in 0:05:18.691805
2026-08-14T21:13:18 - INFO: MSIP3D took 0:05:19.845635