+ [ 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
+ [ md = md ]
+ echo --laser-front
+ 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 --laser-front --sonar-sample-offset -1 /working/a13aa002-e0f5-da12-4cee-1dab93678d04
2026-08-03T23:48:37 - INFO: MSIP3D 0.2.11
2026-08-03T23:48:37 - INFO: P3D files will be output to /working/a13aa002-e0f5-da12-4cee-1dab93678d04/a13aa002-e0f5-da12-4cee-1dab93678d04
2026-08-03T23:48:37 - INFO: Found 10 TFD dictionary entries
2026-08-03T23:48:37 - INFO: Found TFD mission for DSHIN039-DSHIN035
2026-08-03T23:48:37 - INFO: Recording will be processed as MD
2026-08-03T23:48:37 - INFO: Copying assets JSON to output directory...
2026-08-03T23:48:37 - INFO: Preparing counter data...
2026-08-03T23:48:37 - INFO: Interpreting counter as metric
2026-08-03T23:48:37 - INFO: Preparing size track from assets JSON...
2026-08-03T23:48:37 - INFO: Preparing material track from assets JSON...
2026-08-03T23:48:37 - INFO: Prepared counter data in 0.1363 s
2026-08-03T23:48:37 - INFO: Extracting sonar data...
TFD path: /working/a13aa002-e0f5-da12-4cee-1dab93678d04/tfd/DSHIN039-DSHIN035.tfd
TFD path: /working/a13aa002-e0f5-da12-4cee-1dab93678d04/tfd/output
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720643
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079240663880375
Name: Dictionary, Tag: 18446744073709551615
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Getting track SONAR
Number of frames: 3360
20 / 3360 [>___________________________________________________________________________] 0.60% ? p/s40 / 3360 [>___________________________________________________________________________] 1.19% ? p/s61 / 3360 [->__________________________________________________________________________] 1.82% ? p/s81 / 3360 [->________________________________________________________________________] 2.41% 102 p/s104 / 3360 [-->______________________________________________________________________] 3.10% 102 p/s126 / 3360 [-->______________________________________________________________________] 3.75% 102 p/s149 / 3360 [--->_____________________________________________________________________] 4.43% 102 p/s171 / 3360 [--->_____________________________________________________________________] 5.09% 102 p/s194 / 3360 [---->____________________________________________________________________] 5.77% 102 p/s217 / 3360 [---->____________________________________________________________________] 6.46% 103 p/s239 / 3360 [----->___________________________________________________________________] 7.11% 103 p/s261 / 3360 [----->___________________________________________________________________] 7.77% 103 p/s284 / 3360 [------>__________________________________________________________________] 8.45% 104 p/s307 / 3360 [------>__________________________________________________________________] 9.14% 104 p/s330 / 3360 [------->_________________________________________________________________] 9.82% 104 p/s353 / 3360 [------->________________________________________________________________] 10.51% 104 p/s375 / 3360 [-------->_______________________________________________________________] 11.16% 104 p/s398 / 3360 [-------->_______________________________________________________________] 11.85% 104 p/s421 / 3360 [--------->______________________________________________________________] 12.53% 105 p/s444 / 3360 [--------->______________________________________________________________] 13.21% 105 p/s467 / 3360 [---------->_____________________________________________________________] 13.90% 105 p/s490 / 3360 [---------->_____________________________________________________________] 14.58% 106 p/s512 / 3360 [---------->_____________________________________________________________] 15.24% 106 p/s535 / 3360 [----------->____________________________________________________________] 15.92% 106 p/s557 / 3360 [----------->____________________________________________________________] 16.58% 106 p/s580 / 3360 [------------>___________________________________________________________] 17.26% 106 p/s603 / 3360 [------------>___________________________________________________________] 17.95% 106 p/s626 / 3360 [------------->__________________________________________________________] 18.63% 107 p/s649 / 3360 [------------->__________________________________________________________] 19.32% 107 p/s672 / 3360 [-------------->_________________________________________________________] 20.00% 107 p/s695 / 3360 [-------------->_________________________________________________________] 20.68% 107 p/s718 / 3360 [--------------->________________________________________________________] 21.37% 107 p/s741 / 3360 [--------------->________________________________________________________] 22.05% 107 p/s764 / 3360 [---------------->_______________________________________________________] 22.74% 108 p/s786 / 3360 [---------------->_______________________________________________________] 23.39% 108 p/s809 / 3360 [----------------->______________________________________________________] 24.08% 108 p/s832 / 3360 [----------------->______________________________________________________] 24.76% 108 p/s855 / 3360 [------------------>_____________________________________________________] 25.45% 108 p/s878 / 3360 [------------------>_____________________________________________________] 26.13% 108 p/s901 / 3360 [------------------->____________________________________________________] 26.82% 108 p/s924 / 3360 [------------------->____________________________________________________] 27.50% 108 p/s947 / 3360 [-------------------->___________________________________________________] 28.18% 108 p/s970 / 3360 [-------------------->___________________________________________________] 28.87% 109 p/s993 / 3360 [--------------------->__________________________________________________] 29.55% 109 p/s1015 / 3360 [--------------------->_________________________________________________] 30.21% 109 p/s1038 / 3360 [--------------------->_________________________________________________] 30.89% 109 p/s1061 / 3360 [---------------------->________________________________________________] 31.58% 109 p/s1084 / 3360 [---------------------->________________________________________________] 32.26% 109 p/s1107 / 3360 [----------------------->_______________________________________________] 32.95% 110 p/s1130 / 3360 [----------------------->_______________________________________________] 33.63% 110 p/s1152 / 3360 [------------------------>______________________________________________] 34.29% 110 p/s1172 / 3360 [------------------------>______________________________________________] 34.88% 109 p/s1195 / 3360 [------------------------->_____________________________________________] 35.57% 109 p/s1218 / 3360 [------------------------->_____________________________________________] 36.25% 109 p/s1241 / 3360 [-------------------------->____________________________________________] 36.93% 110 p/s1264 / 3360 [-------------------------->____________________________________________] 37.62% 110 p/s1286 / 3360 [--------------------------->___________________________________________] 38.27% 110 p/s1309 / 3360 [--------------------------->___________________________________________] 38.96% 110 p/s1332 / 3360 [---------------------------->__________________________________________] 39.64% 110 p/s1354 / 3360 [---------------------------->__________________________________________] 40.30% 110 p/s1377 / 3360 [----------------------------->_________________________________________] 40.98% 110 p/s1400 / 3360 [----------------------------->_________________________________________] 41.67% 110 p/s1423 / 3360 [------------------------------>________________________________________] 42.35% 110 p/s1446 / 3360 [------------------------------>________________________________________] 43.04% 111 p/s1469 / 3360 [------------------------------->_______________________________________] 43.72% 111 p/s1492 / 3360 [------------------------------->_______________________________________] 44.40% 111 p/s1515 / 3360 [-------------------------------->______________________________________] 45.09% 111 p/s1538 / 3360 [-------------------------------->______________________________________] 45.77% 111 p/s1561 / 3360 [-------------------------------->______________________________________] 46.46% 111 p/s1584 / 3360 [--------------------------------->_____________________________________] 47.14% 111 p/s1607 / 3360 [--------------------------------->_____________________________________] 47.83% 111 p/s1629 / 3360 [---------------------------------->____________________________________] 48.48% 111 p/s1652 / 3360 [---------------------------------->____________________________________] 49.17% 111 p/s1674 / 3360 [----------------------------------->___________________________________] 49.82% 111 p/s1697 / 3360 [----------------------------------->___________________________________] 50.51% 111 p/s1720 / 3360 [------------------------------------>__________________________________] 51.19% 111 p/s1743 / 3360 [------------------------------------>__________________________________] 51.88% 111 p/s1766 / 3360 [------------------------------------->_________________________________] 52.56% 111 p/s1789 / 3360 [------------------------------------->_________________________________] 53.24% 112 p/s1812 / 3360 [-------------------------------------->________________________________] 53.93% 112 p/s1834 / 3360 [-------------------------------------->________________________________] 54.58% 112 p/s1857 / 3360 [--------------------------------------->_______________________________] 55.27% 112 p/s1880 / 3360 [--------------------------------------->_______________________________] 55.95% 112 p/s1903 / 3360 [---------------------------------------->______________________________] 56.64% 112 p/s1926 / 3360 [---------------------------------------->______________________________] 57.32% 112 p/s1948 / 3360 [----------------------------------------->_____________________________] 57.98% 112 p/s1971 / 3360 [----------------------------------------->_____________________________] 58.66% 112 p/s1994 / 3360 [------------------------------------------>____________________________] 59.35% 112 p/s2017 / 3360 [------------------------------------------>____________________________] 60.03% 112 p/s2040 / 3360 [------------------------------------------->___________________________] 60.71% 112 p/s2062 / 3360 [------------------------------------------->___________________________] 61.37% 112 p/s2085 / 3360 [-------------------------------------------->__________________________] 62.05% 112 p/s2108 / 3360 [-------------------------------------------->__________________________] 62.74% 112 p/s2131 / 3360 [--------------------------------------------->_________________________] 63.42% 112 p/s2154 / 3360 [--------------------------------------------->_________________________] 64.11% 112 p/s2176 / 3360 [--------------------------------------------->_________________________] 64.76% 112 p/s2199 / 3360 [---------------------------------------------->________________________] 65.45% 112 p/s2222 / 3360 [---------------------------------------------->________________________] 66.13% 112 p/s2245 / 3360 [----------------------------------------------->_______________________] 66.82% 112 p/s2268 / 3360 [----------------------------------------------->_______________________] 67.50% 113 p/s2290 / 3360 [------------------------------------------------>______________________] 68.15% 113 p/s2312 / 3360 [------------------------------------------------>______________________] 68.81% 113 p/s2335 / 3360 [------------------------------------------------->_____________________] 69.49% 112 p/s2358 / 3360 [------------------------------------------------->_____________________] 70.18% 112 p/s2380 / 3360 [-------------------------------------------------->____________________] 70.83% 112 p/s2403 / 3360 [-------------------------------------------------->____________________] 71.52% 113 p/s2426 / 3360 [--------------------------------------------------->___________________] 72.20% 113 p/s2449 / 3360 [--------------------------------------------------->___________________] 72.89% 113 p/s2471 / 3360 [---------------------------------------------------->__________________] 73.54% 113 p/s2494 / 3360 [---------------------------------------------------->__________________] 74.23% 113 p/s2517 / 3360 [----------------------------------------------------->_________________] 74.91% 113 p/s2539 / 3360 [----------------------------------------------------->_________________] 75.57% 113 p/s2562 / 3360 [------------------------------------------------------>________________] 76.25% 113 p/s2585 / 3360 [------------------------------------------------------>________________] 76.93% 113 p/s2608 / 3360 [------------------------------------------------------->_______________] 77.62% 113 p/s2630 / 3360 [------------------------------------------------------->_______________] 78.27% 113 p/s2653 / 3360 [-------------------------------------------------------->______________] 78.96% 113 p/s2676 / 3360 [-------------------------------------------------------->______________] 79.64% 113 p/s2699 / 3360 [--------------------------------------------------------->_____________] 80.33% 113 p/s2722 / 3360 [--------------------------------------------------------->_____________] 81.01% 113 p/s2744 / 3360 [--------------------------------------------------------->_____________] 81.67% 113 p/s2767 / 3360 [---------------------------------------------------------->____________] 82.35% 113 p/s2790 / 3360 [---------------------------------------------------------->____________] 83.04% 113 p/s2813 / 3360 [----------------------------------------------------------->___________] 83.72% 113 p/s2836 / 3360 [----------------------------------------------------------->___________] 84.40% 113 p/s2859 / 3360 [------------------------------------------------------------>__________] 85.09% 113 p/s2881 / 3360 [------------------------------------------------------------>__________] 85.74% 113 p/s2904 / 3360 [------------------------------------------------------------->_________] 86.43% 113 p/s2927 / 3360 [------------------------------------------------------------->_________] 87.11% 113 p/s2950 / 3360 [-------------------------------------------------------------->________] 87.80% 113 p/s2973 / 3360 [-------------------------------------------------------------->________] 88.48% 113 p/s2996 / 3360 [--------------------------------------------------------------->_______] 89.17% 113 p/s3018 / 3360 [--------------------------------------------------------------->_______] 89.82% 113 p/s3041 / 3360 [---------------------------------------------------------------->______] 90.51% 113 p/s3064 / 3360 [---------------------------------------------------------------->______] 91.19% 113 p/s3087 / 3360 [----------------------------------------------------------------->_____] 91.88% 113 p/s3109 / 3360 [----------------------------------------------------------------->_____] 92.53% 113 p/s3132 / 3360 [------------------------------------------------------------------>____] 93.21% 113 p/s3155 / 3360 [------------------------------------------------------------------>____] 93.90% 113 p/s3177 / 3360 [------------------------------------------------------------------->___] 94.55% 113 p/s3200 / 3360 [------------------------------------------------------------------->___] 95.24% 113 p/s3223 / 3360 [-------------------------------------------------------------------->__] 95.92% 113 p/s3246 / 3360 [-------------------------------------------------------------------->__] 96.61% 113 p/s3268 / 3360 [--------------------------------------------------------------------->_] 97.26% 113 p/s3291 / 3360 [--------------------------------------------------------------------->_] 97.95% 113 p/s3313 / 3360 [---------------------------------------------------------------------->] 98.60% 113 p/s3336 / 3360 [---------------------------------------------------------------------->] 99.29% 113 p/s3359 / 3360 [---------------------------------------------------------------------->] 99.97% 113 p/s3360 / 3360 [----------------------------------------------------------------------] 100.00% 114 p/s2026-08-03T23:49:07 - INFO: Parsing 3360 sonar sweeps from /working/a13aa002-e0f5-da12-4cee-1dab93678d04/tfd/output/SONAR/all-sweeps-info.csv...

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2026-08-03T23:51:10 - INFO: Writing sonar_raw.track.cbor
2026-08-03T23:51:57 - 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 --sonar-flip /working/a13aa002-e0f5-da12-4cee-1dab93678d04/a13aa002-e0f5-da12-4cee-1dab93678d04"
2026-08-03T23:51:57 - INFO: DataPrep 0.15.2a2
2026-08-03T23:51:57 - INFO: Prepared data will be output to /working/a13aa002-e0f5-da12-4cee-1dab93678d04/a13aa002-e0f5-da12-4cee-1dab93678d04/processing/data
2026-08-03T23:51:57 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-08-03T23:51:57 - deployment - INFO: Detected P3D version: P3D_1
2026-08-03T23:51:57 - INFO: Recording GUID: 8694903a-98c9-40ab-b8f2-e182a1c7d4d0
2026-08-03T23:51:57 - INFO: Preparing sonar data...
2026-08-03T23:51:57 - INFO: /working/a13aa002-e0f5-da12-4cee-1dab93678d04/a13aa002-e0f5-da12-4cee-1dab93678d04/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-08-03T23:52:00 - INFO: Sonar epoch is 2025-05-05 23:31:22.884622+00:00 (1746487882884621489)
2026-08-03T23:52:00 - INFO: Creating sonar sensor alignment track...
2026-08-03T23:52:00 - INFO: Using sonar rotation of 0.000000 radians for wedge mask
2026-08-03T23:52:00 - INFO: Using sonar digitizer
2026-08-03T23:52:00 - INFO: Sensor speed of sound is 1500 m/s
2026-08-03T23:52:00 - INFO: Sensor range is 0.939120 m
2026-08-03T23:52:00 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-08-03T23:52:00 - INFO: Scaled micrometres per sample is 3108.536247
2026-08-03T23:52:00 - INFO: Processing 3360 snapshot scans from 3360 source sweeps...
2026-08-03T23:52:00 - INFO: Processing sonar scans with 8 worker processes and chunksize 64

  0%|          | 0/3360 [00:00<?, ?scan/s]
  0%|          | 1/3360 [00:03<3:16:22,  3.51s/scan]
  2%|▏         | 65/3360 [00:04<02:34, 21.30scan/s] 
  4%|▍         | 129/3360 [00:04<01:19, 40.88scan/s]
  6%|▌         | 193/3360 [00:04<00:49, 64.44scan/s]
  8%|▊         | 257/3360 [00:05<00:32, 94.06scan/s]
 11%|█▏        | 385/3360 [00:05<00:22, 133.85scan/s]
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 63%|██████▎   | 2113/3360 [00:19<00:09, 129.57scan/s]
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 78%|███████▊  | 2625/3360 [00:23<00:05, 129.08scan/s]
 80%|████████  | 2689/3360 [00:23<00:05, 121.41scan/s]
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 86%|████████▌ | 2881/3360 [00:25<00:03, 128.54scan/s]
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 96%|█████████▌| 3233/3360 [00:26<00:00, 148.95scan/s]
 98%|█████████▊| 3297/3360 [00:27<00:00, 184.57scan/s]
100%|██████████| 3360/3360 [00:27<00:00, 124.30scan/s]
2026-08-03T23:52:28 - INFO: Applying sonar temporal consistency...
2026-08-03T23:52:37 - INFO: Sonar temporal gap fill (window 2): 878073 points, 10149 candidate beams, filled 8410
2026-08-03T23:52:39 - INFO: Sonar temporal segment pruning (window 3): removed 73 segments, 1199 points
2026-08-03T23:52:44 - INFO: Prepared sonar data in 46.8075 s
2026-08-03T23:52:44 - INFO: No IMU data found
2026-08-03T23:52:45 - INFO: DataPrep took 0:00:47.238366
2026-08-03T23:52:45 - INFO: Extracted sonar data in 0:04:07.529255
2026-08-03T23:52:46 - INFO: MSIP3D took 0:04:08.471085