import_bag: write bathy to the Processed layer by default (+ --bathy-layer flag) (#85)#86
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June 28, 2026 11:57
… flag (#85) The offline full-bag CUBE replay is the authoritative off-boat product (the live node writes Draft), so import_bag now writes bathy tiles to the Processed layer by default, mirroring how --bs-store already writes backscatter to Processed (#80). A --bathy-layer draft|processed flag overrides (e.g. to seed a draft from a bag). One import pass now yields Processed bathy + Processed backscatter. Behavior change: import_bag bathy output was Draft, now defaults to Processed. The broadened Processed-bathy semantics (authoritative = external grids OR the off-boat CUBE re-run) is documented in the companion marine_bathymetry_store / ADR-0002 update (unh_marine_autonomy). Part of #85
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Summary
The offline
import_bag(off-boat CUBE re-run) now writes bathy tiles to theProcessedlayer by default — it previously hardcodedDraft. The full-bagreplay is the authoritative off-boat product (the live node writes
Draft), soit belongs in
Processed, consistent with how--bs-storealready writesbackscatter to
Processed(#80). One import pass now yields Processed bathy +Processed backscatter from a sonar bag.
A
--bathy-layer draft|processedflag overrides (defaultprocessed) — e.g.to seed a draft from a bag.
Semantics
This broadens the bathy-store
Processedlayer from "externally produced grids" to"the authoritative product: external grids or the off-boat CUBE re-run." The
marine_bathymetry_storedoc + ADR-0002 are updated in the companionunh_marine_autonomy#241.
Testing
colcon buildclean;colcon testgreen: 394 tests, 0 failures; lint clean.-hlists--bathy-layer; an invalid value errors cleanly;default is
processed.suggestion (robust layer label) — both fixed.
Note
Behavior change:
import_bagbathy output wasDraft, now defaults toProcessed.Corrected backscatter still requires the cube#81 curve
(
--backscatter-correction empirical --backscatter-curve); orthogonal to this.Closes #85
Authored-By:
Claude Code AgentModel:
Claude Opus 4.8 (1M context)