2026-03-18T06:39:49 - INFO: MSIP3D 0.2.0rc2
2026-03-18T06:39:49 - INFO: P3D files will be output to /working/91a1967a-affb-b554-6acf-f2584efbfd1b/91a1967a-affb-b554-6acf-f2584efbfd1b
2026-03-18T06:39:49 - INFO: Found 10 TFD dictionary entries
2026-03-18T06:39:49 - INFO: Found TFD mission for SJ502795 Dep 8
2026-03-18T06:39:49 - INFO: Recording will be processed as MD
2026-03-18T06:39:49 - INFO: Copying assets JSON to output directory...
2026-03-18T06:39:49 - INFO: Preparing counter data...
2026-03-18T06:39:49 - INFO: Interpreting counter as imperial
2026-03-18T06:39:49 - INFO: Preparing size track from assets JSON...
2026-03-18T06:39:49 - INFO: Preparing shape track from assets JSON...
2026-03-18T06:39:49 - INFO: Preparing material track from assets JSON...
2026-03-18T06:39:49 - INFO: Prepared counter data in 0.1146 s
2026-03-18T06:39:49 - INFO: Extracting sonar data...
TFD path: /working/91a1967a-affb-b554-6acf-f2584efbfd1b/tfd/SJ502795_Dep_8.tfd
TFD path: /working/91a1967a-affb-b554-6acf-f2584efbfd1b/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855221467469924940
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855221467469924931
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 4266
22 / 4266 [>___________________________________________________________________________] 0.52% ? p/s45 / 4266 [>___________________________________________________________________________] 1.05% ? p/s67 / 4266 [->__________________________________________________________________________] 1.57% ? p/s90 / 4266 [->________________________________________________________________________] 2.11% 113 p/s113 / 4266 [->_______________________________________________________________________] 2.65% 113 p/s133 / 4266 [-->______________________________________________________________________] 3.12% 113 p/s156 / 4266 [-->______________________________________________________________________] 3.66% 113 p/s179 / 4266 [--->_____________________________________________________________________] 4.20% 113 p/s202 / 4266 [--->_____________________________________________________________________] 4.74% 113 p/s225 / 4266 [--->_____________________________________________________________________] 5.27% 113 p/s248 / 4266 [---->____________________________________________________________________] 5.81% 113 p/s270 / 4266 [---->____________________________________________________________________] 6.33% 113 p/s292 / 4266 [---->____________________________________________________________________] 6.84% 113 p/s313 / 4266 [----->___________________________________________________________________] 7.34% 113 p/s336 / 4266 [----->___________________________________________________________________] 7.88% 113 p/s358 / 4266 [------>__________________________________________________________________] 8.39% 113 p/s381 / 4266 [------>__________________________________________________________________] 8.93% 113 p/s404 / 4266 [------>__________________________________________________________________] 9.47% 113 p/s427 / 4266 [------->________________________________________________________________] 10.01% 113 p/s450 / 4266 [------->________________________________________________________________] 10.55% 113 p/s473 / 4266 [------->________________________________________________________________] 11.09% 113 p/s495 / 4266 [-------->_______________________________________________________________] 11.60% 113 p/s518 / 4266 [-------->_______________________________________________________________] 12.14% 113 p/s540 / 4266 [--------->______________________________________________________________] 12.66% 113 p/s563 / 4266 [--------->______________________________________________________________] 13.20% 113 p/s585 / 4266 [--------->______________________________________________________________] 13.71% 113 p/s608 / 4266 [---------->_____________________________________________________________] 14.25% 113 p/s631 / 4266 [---------->_____________________________________________________________] 14.79% 113 p/s653 / 4266 [----------->____________________________________________________________] 15.31% 113 p/s676 / 4266 [----------->____________________________________________________________] 15.85% 113 p/s699 / 4266 [----------->____________________________________________________________] 16.39% 113 p/s722 / 4266 [------------>___________________________________________________________] 16.92% 113 p/s745 / 4266 [------------>___________________________________________________________] 17.46% 113 p/s768 / 4266 [------------>___________________________________________________________] 18.00% 113 p/s791 / 4266 [------------->__________________________________________________________] 18.54% 113 p/s814 / 4266 [------------->__________________________________________________________] 19.08% 113 p/s838 / 4266 [-------------->_________________________________________________________] 19.64% 113 p/s861 / 4266 [-------------->_________________________________________________________] 20.18% 113 p/s884 / 4266 [-------------->_________________________________________________________] 20.72% 113 p/s907 / 4266 [--------------->________________________________________________________] 21.26% 114 p/s930 / 4266 [--------------->________________________________________________________] 21.80% 114 p/s953 / 4266 [---------------->_______________________________________________________] 22.34% 114 p/s976 / 4266 [---------------->_______________________________________________________] 22.88% 114 p/s997 / 4266 [---------------->_______________________________________________________] 23.37% 114 p/s1020 / 4266 [---------------->______________________________________________________] 23.91% 114 p/s1042 / 4266 [----------------->_____________________________________________________] 24.43% 113 p/s1065 / 4266 [----------------->_____________________________________________________] 24.96% 113 p/s1088 / 4266 [------------------>____________________________________________________] 25.50% 113 p/s1110 / 4266 [------------------>____________________________________________________] 26.02% 113 p/s1134 / 4266 [------------------>____________________________________________________] 26.58% 113 p/s1156 / 4266 [------------------->___________________________________________________] 27.10% 113 p/s1179 / 4266 [------------------->___________________________________________________] 27.64% 114 p/s1202 / 4266 [-------------------->__________________________________________________] 28.18% 114 p/s1225 / 4266 [-------------------->__________________________________________________] 28.72% 114 p/s1248 / 4266 [-------------------->__________________________________________________] 29.25% 114 p/s1271 / 4266 [--------------------->_________________________________________________] 29.79% 114 p/s1294 / 4266 [--------------------->_________________________________________________] 30.33% 114 p/s1318 / 4266 [--------------------->_________________________________________________] 30.90% 114 p/s1341 / 4266 [---------------------->________________________________________________] 31.43% 114 p/s1364 / 4266 [---------------------->________________________________________________] 31.97% 114 p/s1387 / 4266 [----------------------->_______________________________________________] 32.51% 114 p/s1410 / 4266 [----------------------->_______________________________________________] 33.05% 114 p/s1433 / 4266 [----------------------->_______________________________________________] 33.59% 114 p/s1456 / 4266 [------------------------>______________________________________________] 34.13% 114 p/s1480 / 4266 [------------------------>______________________________________________] 34.69% 114 p/s1503 / 4266 [------------------------->_____________________________________________] 35.23% 114 p/s1525 / 4266 [------------------------->_____________________________________________] 35.75% 114 p/s1549 / 4266 [------------------------->_____________________________________________] 36.31% 114 p/s1572 / 4266 [-------------------------->____________________________________________] 36.85% 114 p/s1595 / 4266 [-------------------------->____________________________________________] 37.39% 114 p/s1618 / 4266 [-------------------------->____________________________________________] 37.93% 114 p/s1641 / 4266 [--------------------------->___________________________________________] 38.47% 114 p/s1664 / 4266 [--------------------------->___________________________________________] 39.01% 114 p/s1687 / 4266 [---------------------------->__________________________________________] 39.55% 114 p/s1710 / 4266 [---------------------------->__________________________________________] 40.08% 114 p/s1733 / 4266 [---------------------------->__________________________________________] 40.62% 114 p/s1757 / 4266 [----------------------------->_________________________________________] 41.19% 114 p/s1780 / 4266 [----------------------------->_________________________________________] 41.73% 114 p/s1803 / 4266 [------------------------------>________________________________________] 42.26% 114 p/s1826 / 4266 [------------------------------>________________________________________] 42.80% 114 p/s1849 / 4266 [------------------------------>________________________________________] 43.34% 114 p/s1872 / 4266 [------------------------------->_______________________________________] 43.88% 114 p/s1894 / 4266 [------------------------------->_______________________________________] 44.40% 114 p/s1917 / 4266 [------------------------------->_______________________________________] 44.94% 114 p/s1940 / 4266 [-------------------------------->______________________________________] 45.48% 114 p/s1963 / 4266 [-------------------------------->______________________________________] 46.02% 114 p/s1986 / 4266 [--------------------------------->_____________________________________] 46.55% 114 p/s2009 / 4266 [--------------------------------->_____________________________________] 47.09% 114 p/s2032 / 4266 [--------------------------------->_____________________________________] 47.63% 114 p/s2055 / 4266 [---------------------------------->____________________________________] 48.17% 114 p/s2078 / 4266 [---------------------------------->____________________________________] 48.71% 114 p/s2101 / 4266 [---------------------------------->____________________________________] 49.25% 114 p/s2124 / 4266 [----------------------------------->___________________________________] 49.79% 114 p/s2147 / 4266 [----------------------------------->___________________________________] 50.33% 115 p/s2170 / 4266 [------------------------------------>__________________________________] 50.87% 115 p/s2193 / 4266 [------------------------------------>__________________________________] 51.41% 115 p/s2216 / 4266 [------------------------------------>__________________________________] 51.95% 115 p/s2239 / 4266 [------------------------------------->_________________________________] 52.48% 115 p/s2262 / 4266 [------------------------------------->_________________________________] 53.02% 115 p/s2285 / 4266 [-------------------------------------->________________________________] 53.56% 115 p/s2308 / 4266 [-------------------------------------->________________________________] 54.10% 115 p/s2331 / 4266 [-------------------------------------->________________________________] 54.64% 115 p/s2354 / 4266 [--------------------------------------->_______________________________] 55.18% 115 p/s2377 / 4266 [--------------------------------------->_______________________________] 55.72% 115 p/s2400 / 4266 [--------------------------------------->_______________________________] 56.26% 115 p/s2423 / 4266 [---------------------------------------->______________________________] 56.80% 115 p/s2446 / 4266 [---------------------------------------->______________________________] 57.34% 115 p/s2469 / 4266 [----------------------------------------->_____________________________] 57.88% 115 p/s2492 / 4266 [----------------------------------------->_____________________________] 58.42% 115 p/s2515 / 4266 [----------------------------------------->_____________________________] 58.95% 115 p/s2538 / 4266 [------------------------------------------>____________________________] 59.49% 115 p/s2560 / 4266 [------------------------------------------>____________________________] 60.01% 115 p/s2583 / 4266 [------------------------------------------>____________________________] 60.55% 115 p/s2606 / 4266 [------------------------------------------->___________________________] 61.09% 115 p/s2630 / 4266 [------------------------------------------->___________________________] 61.65% 115 p/s2653 / 4266 [-------------------------------------------->__________________________] 62.19% 115 p/s2676 / 4266 [-------------------------------------------->__________________________] 62.73% 115 p/s2698 / 4266 [-------------------------------------------->__________________________] 63.24% 115 p/s2721 / 4266 [--------------------------------------------->_________________________] 63.78% 115 p/s2744 / 4266 [--------------------------------------------->_________________________] 64.32% 115 p/s2767 / 4266 [---------------------------------------------->________________________] 64.86% 115 p/s2790 / 4266 [---------------------------------------------->________________________] 65.40% 115 p/s2813 / 4266 [---------------------------------------------->________________________] 65.94% 115 p/s2835 / 4266 [----------------------------------------------->_______________________] 66.46% 115 p/s2859 / 4266 [----------------------------------------------->_______________________] 67.02% 115 p/s2881 / 4266 [----------------------------------------------->_______________________] 67.53% 115 p/s2904 / 4266 [------------------------------------------------>______________________] 68.07% 115 p/s2928 / 4266 [------------------------------------------------>______________________] 68.64% 115 p/s2951 / 4266 [------------------------------------------------->_____________________] 69.17% 115 p/s2974 / 4266 [------------------------------------------------->_____________________] 69.71% 115 p/s2997 / 4266 [------------------------------------------------->_____________________] 70.25% 115 p/s3020 / 4266 [-------------------------------------------------->____________________] 70.79% 115 p/s3043 / 4266 [-------------------------------------------------->____________________] 71.33% 115 p/s3066 / 4266 [--------------------------------------------------->___________________] 71.87% 115 p/s3089 / 4266 [--------------------------------------------------->___________________] 72.41% 115 p/s3112 / 4266 [--------------------------------------------------->___________________] 72.95% 115 p/s3135 / 4266 [---------------------------------------------------->__________________] 73.49% 115 p/s3158 / 4266 [---------------------------------------------------->__________________] 74.03% 115 p/s3181 / 4266 [---------------------------------------------------->__________________] 74.57% 115 p/s3204 / 4266 [----------------------------------------------------->_________________] 75.11% 115 p/s3228 / 4266 [----------------------------------------------------->_________________] 75.67% 115 p/s3250 / 4266 [------------------------------------------------------>________________] 76.18% 115 p/s3273 / 4266 [------------------------------------------------------>________________] 76.72% 115 p/s3295 / 4266 [------------------------------------------------------>________________] 77.24% 115 p/s3318 / 4266 [------------------------------------------------------->_______________] 77.78% 115 p/s3341 / 4266 [------------------------------------------------------->_______________] 78.32% 115 p/s3364 / 4266 [------------------------------------------------------->_______________] 78.86% 115 p/s3386 / 4266 [-------------------------------------------------------->______________] 79.37% 115 p/s3409 / 4266 [-------------------------------------------------------->______________] 79.91% 115 p/s3432 / 4266 [--------------------------------------------------------->_____________] 80.45% 115 p/s3455 / 4266 [--------------------------------------------------------->_____________] 80.99% 115 p/s3478 / 4266 [--------------------------------------------------------->_____________] 81.53% 115 p/s3501 / 4266 [---------------------------------------------------------->____________] 82.07% 115 p/s3524 / 4266 [---------------------------------------------------------->____________] 82.61% 115 p/s3547 / 4266 [----------------------------------------------------------->___________] 83.15% 115 p/s3570 / 4266 [----------------------------------------------------------->___________] 83.68% 115 p/s3592 / 4266 [----------------------------------------------------------->___________] 84.20% 115 p/s3615 / 4266 [------------------------------------------------------------>__________] 84.74% 115 p/s3638 / 4266 [------------------------------------------------------------>__________] 85.28% 115 p/s3661 / 4266 [------------------------------------------------------------>__________] 85.82% 115 p/s3684 / 4266 [------------------------------------------------------------->_________] 86.36% 115 p/s3707 / 4266 [------------------------------------------------------------->_________] 86.90% 115 p/s3730 / 4266 [-------------------------------------------------------------->________] 87.44% 115 p/s3753 / 4266 [-------------------------------------------------------------->________] 87.97% 115 p/s3776 / 4266 [-------------------------------------------------------------->________] 88.51% 115 p/s3798 / 4266 [--------------------------------------------------------------->_______] 89.03% 115 p/s3821 / 4266 [--------------------------------------------------------------->_______] 89.57% 115 p/s3844 / 4266 [--------------------------------------------------------------->_______] 90.11% 115 p/s3867 / 4266 [---------------------------------------------------------------->______] 90.65% 115 p/s3889 / 4266 [---------------------------------------------------------------->______] 91.16% 115 p/s3912 / 4266 [----------------------------------------------------------------->_____] 91.70% 115 p/s3934 / 4266 [----------------------------------------------------------------->_____] 92.22% 114 p/s3957 / 4266 [----------------------------------------------------------------->_____] 92.76% 114 p/s3979 / 4266 [------------------------------------------------------------------>____] 93.27% 114 p/s4002 / 4266 [------------------------------------------------------------------>____] 93.81% 114 p/s4025 / 4266 [------------------------------------------------------------------>____] 94.35% 114 p/s4047 / 4266 [------------------------------------------------------------------->___] 94.87% 114 p/s4070 / 4266 [------------------------------------------------------------------->___] 95.41% 114 p/s4092 / 4266 [-------------------------------------------------------------------->__] 95.92% 114 p/s4115 / 4266 [-------------------------------------------------------------------->__] 96.46% 114 p/s4138 / 4266 [-------------------------------------------------------------------->__] 97.00% 114 p/s4160 / 4266 [--------------------------------------------------------------------->_] 97.52% 114 p/s4183 / 4266 [--------------------------------------------------------------------->_] 98.05% 114 p/s4207 / 4266 [---------------------------------------------------------------------->] 98.62% 114 p/s4230 / 4266 [---------------------------------------------------------------------->] 99.16% 114 p/s4253 / 4266 [---------------------------------------------------------------------->] 99.70% 114 p/s4266 / 4266 [----------------------------------------------------------------------] 100.00% 115 p/s2026-03-18T06:40:26 - INFO: Parsing 4266 sonar sweeps from /working/91a1967a-affb-b554-6acf-f2584efbfd1b/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/4266 [00:00<?, ?it/s]
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  0%|          | 6/4266 [00:00<02:31, 28.12it/s]
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  1%|          | 24/4266 [00:00<02:27, 28.76it/s]
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  1%|          | 42/4266 [00:01<02:26, 28.80it/s]
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  1%|          | 48/4266 [00:01<02:26, 28.80it/s]
  1%|          | 51/4266 [00:01<02:26, 28.73it/s]
  1%|▏         | 54/4266 [00:01<02:26, 28.74it/s]
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  1%|▏         | 60/4266 [00:02<02:26, 28.72it/s]
  1%|▏         | 63/4266 [00:02<02:26, 28.70it/s]
  2%|▏         | 66/4266 [00:02<02:26, 28.71it/s]
  2%|▏         | 69/4266 [00:02<02:26, 28.72it/s]
  2%|▏         | 72/4266 [00:02<02:25, 28.73it/s]
  2%|▏         | 75/4266 [00:02<02:25, 28.74it/s]
  2%|▏         | 78/4266 [00:02<02:25, 28.77it/s]
  2%|▏         | 81/4266 [00:02<02:25, 28.79it/s]
  2%|▏         | 84/4266 [00:02<02:25, 28.70it/s]
  2%|▏         | 87/4266 [00:03<02:25, 28.63it/s]
  2%|▏         | 90/4266 [00:03<02:25, 28.65it/s]
  2%|▏         | 93/4266 [00:03<02:25, 28.61it/s]
  2%|▏         | 96/4266 [00:03<02:25, 28.57it/s]
  2%|▏         | 99/4266 [00:03<02:25, 28.57it/s]
  2%|▏         | 102/4266 [00:03<02:25, 28.57it/s]
  2%|▏         | 105/4266 [00:03<02:25, 28.51it/s]
  3%|▎         | 108/4266 [00:03<02:25, 28.50it/s]
  3%|▎         | 111/4266 [00:03<02:25, 28.49it/s]
  3%|▎         | 114/4266 [00:03<02:25, 28.48it/s]
  3%|▎         | 117/4266 [00:04<02:26, 28.31it/s]
  3%|▎         | 120/4266 [00:04<02:27, 28.06it/s]
  3%|▎         | 123/4266 [00:04<02:27, 28.03it/s]
  3%|▎         | 126/4266 [00:04<02:26, 28.18it/s]
  3%|▎         | 129/4266 [00:04<02:30, 27.48it/s]
  3%|▎         | 132/4266 [00:04<02:28, 27.80it/s]
  3%|▎         | 135/4266 [00:04<02:27, 28.10it/s]
  3%|▎         | 138/4266 [00:04<02:25, 28.30it/s]
  3%|▎         | 141/4266 [00:04<02:24, 28.46it/s]
  3%|▎         | 144/4266 [00:05<02:24, 28.54it/s]
  3%|▎         | 147/4266 [00:05<02:23, 28.64it/s]
  4%|▎         | 150/4266 [00:05<02:23, 28.61it/s]
  4%|▎         | 153/4266 [00:05<02:23, 28.63it/s]
  4%|▎         | 156/4266 [00:05<02:23, 28.69it/s]
  4%|▎         | 159/4266 [00:05<02:22, 28.74it/s]
  4%|▍         | 162/4266 [00:05<02:22, 28.78it/s]
  4%|▍         | 165/4266 [00:05<02:22, 28.82it/s]
  4%|▍         | 168/4266 [00:05<02:22, 28.83it/s]
  4%|▍         | 171/4266 [00:05<02:21, 28.85it/s]
  4%|▍         | 174/4266 [00:06<02:21, 28.88it/s]
  4%|▍         | 177/4266 [00:06<02:21, 28.88it/s]
  4%|▍         | 180/4266 [00:06<02:21, 28.91it/s]
  4%|▍         | 183/4266 [00:06<02:21, 28.92it/s]
  4%|▍         | 186/4266 [00:06<02:21, 28.91it/s]
  4%|▍         | 189/4266 [00:06<02:21, 28.86it/s]
  5%|▍         | 192/4266 [00:06<02:21, 28.84it/s]
  5%|▍         | 195/4266 [00:06<02:23, 28.45it/s]
  5%|▍         | 198/4266 [00:06<02:22, 28.45it/s]
  5%|▍         | 201/4266 [00:07<02:22, 28.49it/s]
  5%|▍         | 204/4266 [00:07<02:21, 28.63it/s]
  5%|▍         | 207/4266 [00:07<02:21, 28.71it/s]
  5%|▍         | 210/4266 [00:07<02:23, 28.32it/s]
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  5%|▌         | 216/4266 [00:07<02:22, 28.51it/s]
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  5%|▌         | 225/4266 [00:07<02:20, 28.72it/s]
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  5%|▌         | 234/4266 [00:08<02:19, 28.84it/s]
  6%|▌         | 237/4266 [00:08<02:19, 28.82it/s]
  6%|▌         | 240/4266 [00:08<02:19, 28.79it/s]
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  6%|▋         | 267/4266 [00:09<02:25, 27.49it/s]
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  6%|▋         | 276/4266 [00:09<02:22, 28.01it/s]
  7%|▋         | 279/4266 [00:09<02:22, 28.05it/s]
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  7%|▋         | 285/4266 [00:09<02:21, 28.17it/s]
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  8%|▊         | 321/4266 [00:11<02:20, 28.01it/s]
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  9%|▊         | 363/4266 [00:12<02:16, 28.54it/s]
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2026-03-18T06:43:03 - INFO: Running DataPrep with "python -m dataprep --force --no-counter --no-video --no-laser --sonar --sonar-format cbor --temperature 17.8 --salinity 0 --pressure 0 --sonar-cluster-size 15 --sonar-mask-angle 120 --sonar-despike --sonar-flip /working/91a1967a-affb-b554-6acf-f2584efbfd1b/91a1967a-affb-b554-6acf-f2584efbfd1b"
2026-03-18T06:43:04 - INFO: DataPrep 0.14.0rc2
2026-03-18T06:43:04 - INFO: Prepared data will be output to /working/91a1967a-affb-b554-6acf-f2584efbfd1b/91a1967a-affb-b554-6acf-f2584efbfd1b/processing/data
2026-03-18T06:43:04 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-18T06:43:04 - deployment - INFO: Detected P3D version: P3D_1
2026-03-18T06:43:04 - INFO: Recording GUID: 91a1967a-affb-b554-6acf-f2584efbfd1b
2026-03-18T06:43:04 - INFO: Preparing sonar data...
2026-03-18T06:43:04 - INFO: /working/91a1967a-affb-b554-6acf-f2584efbfd1b/91a1967a-affb-b554-6acf-f2584efbfd1b/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-18T06:43:08 - INFO: Sonar epoch is 2026-01-09 13:56:23.235718+00:00 (1767966983235717618)
2026-03-18T06:43:08 - INFO: Creating sonar sensor alignment track...
2026-03-18T06:43:08 - INFO: Using sonar rotation of 0.174533 radians for wedge mask
2026-03-18T06:43:08 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-18T06:43:08 - INFO: Sonar range is 0.939120 m
2026-03-18T06:43:08 - INFO: Speed of sound is 1472 m/s
2026-03-18T06:43:08 - INFO: Processing 4266 sweeps...

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2026-03-18T06:43:18 - INFO: Prepared sonar data in 14.0040 s
2026-03-18T06:43:18 - INFO: No IMU data found
2026-03-18T06:43:19 - INFO: DataPrep took 0:00:14.423918
2026-03-18T06:43:19 - INFO: Extracted sonar data in 0:03:29.694752
2026-03-18T06:43:19 - INFO: MSIP3D took 0:03:30.208359