2026-03-18T06:45:57 - INFO: MSIP3D 0.2.0rc2
2026-03-18T06:45:57 - INFO: P3D files will be output to /working/a6118df3-7573-c262-c796-239ab98ebc33/a6118df3-7573-c262-c796-239ab98ebc33
2026-03-18T06:45:57 - INFO: Found 10 TFD dictionary entries
2026-03-18T06:45:57 - INFO: Found TFD mission for SJ502795 Dep 15
2026-03-18T06:45:57 - INFO: Recording will be processed as MD
2026-03-18T06:45:57 - INFO: Copying assets JSON to output directory...
2026-03-18T06:45:57 - INFO: Preparing counter data...
2026-03-18T06:45:57 - INFO: Interpreting counter as imperial
2026-03-18T06:45:57 - INFO: Preparing size track from assets JSON...
2026-03-18T06:45:57 - INFO: Preparing shape track from assets JSON...
2026-03-18T06:45:57 - INFO: Preparing material track from assets JSON...
2026-03-18T06:45:57 - INFO: Prepared counter data in 0.0868 s
2026-03-18T06:45:57 - INFO: Extracting sonar data...
TFD path: /working/a6118df3-7573-c262-c796-239ab98ebc33/tfd/SJ502795_Dep_15.tfd
TFD path: /working/a6118df3-7573-c262-c796-239ab98ebc33/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: CCTV, Tag: 4855221467469924931
Name: LASER, Tag: 4855221467469924940
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 5725
22 / 5725 [>___________________________________________________________________________] 0.38% ? p/s45 / 5725 [>___________________________________________________________________________] 0.79% ? p/s68 / 5725 [>___________________________________________________________________________] 1.19% ? p/s90 / 5725 [->________________________________________________________________________] 1.57% 113 p/s113 / 5725 [->_______________________________________________________________________] 1.97% 113 p/s135 / 5725 [->_______________________________________________________________________] 2.36% 113 p/s158 / 5725 [-->______________________________________________________________________] 2.76% 113 p/s180 / 5725 [-->______________________________________________________________________] 3.14% 113 p/s203 / 5725 [-->______________________________________________________________________] 3.55% 113 p/s226 / 5725 [-->______________________________________________________________________] 3.95% 113 p/s248 / 5725 [--->_____________________________________________________________________] 4.33% 113 p/s270 / 5725 [--->_____________________________________________________________________] 4.72% 113 p/s293 / 5725 [--->_____________________________________________________________________] 5.12% 113 p/s316 / 5725 [---->____________________________________________________________________] 5.52% 113 p/s339 / 5725 [---->____________________________________________________________________] 5.92% 113 p/s362 / 5725 [---->____________________________________________________________________] 6.32% 113 p/s385 / 5725 [---->____________________________________________________________________] 6.72% 113 p/s400 / 5725 [----->___________________________________________________________________] 6.99% 113 p/s415 / 5725 [----->___________________________________________________________________] 7.25% 112 p/s438 / 5725 [----->___________________________________________________________________] 7.65% 112 p/s461 / 5725 [----->___________________________________________________________________] 8.05% 112 p/s484 / 5725 [------>__________________________________________________________________] 8.45% 112 p/s506 / 5725 [------>__________________________________________________________________] 8.84% 112 p/s529 / 5725 [------>__________________________________________________________________] 9.24% 112 p/s552 / 5725 [------->_________________________________________________________________] 9.64% 112 p/s575 / 5725 [------->________________________________________________________________] 10.04% 112 p/s598 / 5725 [------->________________________________________________________________] 10.45% 112 p/s620 / 5725 [------->________________________________________________________________] 10.83% 112 p/s643 / 5725 [-------->_______________________________________________________________] 11.23% 112 p/s666 / 5725 [-------->_______________________________________________________________] 11.63% 112 p/s689 / 5725 [-------->_______________________________________________________________] 12.03% 112 p/s712 / 5725 [-------->_______________________________________________________________] 12.44% 112 p/s735 / 5725 [--------->______________________________________________________________] 12.84% 112 p/s758 / 5725 [--------->______________________________________________________________] 13.24% 112 p/s781 / 5725 [--------->______________________________________________________________] 13.64% 112 p/s804 / 5725 [---------->_____________________________________________________________] 14.04% 112 p/s827 / 5725 [---------->_____________________________________________________________] 14.45% 113 p/s850 / 5725 [---------->_____________________________________________________________] 14.85% 113 p/s873 / 5725 [---------->_____________________________________________________________] 15.25% 113 p/s896 / 5725 [----------->____________________________________________________________] 15.65% 113 p/s919 / 5725 [----------->____________________________________________________________] 16.05% 113 p/s942 / 5725 [----------->____________________________________________________________] 16.45% 113 p/s965 / 5725 [------------>___________________________________________________________] 16.86% 113 p/s989 / 5725 [------------>___________________________________________________________] 17.28% 113 p/s1012 / 5725 [------------>__________________________________________________________] 17.68% 113 p/s1034 / 5725 [------------>__________________________________________________________] 18.06% 113 p/s1057 / 5725 [------------->_________________________________________________________] 18.46% 113 p/s1079 / 5725 [------------->_________________________________________________________] 18.85% 113 p/s1102 / 5725 [------------->_________________________________________________________] 19.25% 113 p/s1125 / 5725 [------------->_________________________________________________________] 19.65% 113 p/s1147 / 5725 [-------------->________________________________________________________] 20.03% 113 p/s1170 / 5725 [-------------->________________________________________________________] 20.44% 113 p/s1193 / 5725 [-------------->________________________________________________________] 20.84% 113 p/s1215 / 5725 [--------------->_______________________________________________________] 21.22% 113 p/s1239 / 5725 [--------------->_______________________________________________________] 21.64% 113 p/s1262 / 5725 [--------------->_______________________________________________________] 22.04% 113 p/s1284 / 5725 [--------------->_______________________________________________________] 22.43% 113 p/s1307 / 5725 [---------------->______________________________________________________] 22.83% 113 p/s1330 / 5725 [---------------->______________________________________________________] 23.23% 113 p/s1353 / 5725 [---------------->______________________________________________________] 23.63% 113 p/s1376 / 5725 [----------------->_____________________________________________________] 24.03% 113 p/s1399 / 5725 [----------------->_____________________________________________________] 24.44% 113 p/s1422 / 5725 [----------------->_____________________________________________________] 24.84% 113 p/s1445 / 5725 [----------------->_____________________________________________________] 25.24% 113 p/s1468 / 5725 [------------------>____________________________________________________] 25.64% 113 p/s1491 / 5725 [------------------>____________________________________________________] 26.04% 113 p/s1514 / 5725 [------------------>____________________________________________________] 26.45% 114 p/s1537 / 5725 [------------------->___________________________________________________] 26.85% 114 p/s1561 / 5725 [------------------->___________________________________________________] 27.27% 114 p/s1583 / 5725 [------------------->___________________________________________________] 27.65% 114 p/s1607 / 5725 [------------------->___________________________________________________] 28.07% 114 p/s1628 / 5725 [-------------------->__________________________________________________] 28.44% 114 p/s1651 / 5725 [-------------------->__________________________________________________] 28.84% 114 p/s1674 / 5725 [-------------------->__________________________________________________] 29.24% 114 p/s1697 / 5725 [--------------------->_________________________________________________] 29.64% 114 p/s1721 / 5725 [--------------------->_________________________________________________] 30.06% 114 p/s1743 / 5725 [--------------------->_________________________________________________] 30.45% 114 p/s1766 / 5725 [--------------------->_________________________________________________] 30.85% 114 p/s1789 / 5725 [---------------------->________________________________________________] 31.25% 114 p/s1812 / 5725 [---------------------->________________________________________________] 31.65% 114 p/s1835 / 5725 [---------------------->________________________________________________] 32.05% 114 p/s1858 / 5725 [----------------------->_______________________________________________] 32.45% 114 p/s1881 / 5725 [----------------------->_______________________________________________] 32.86% 114 p/s1904 / 5725 [----------------------->_______________________________________________] 33.26% 114 p/s1927 / 5725 [----------------------->_______________________________________________] 33.66% 114 p/s1950 / 5725 [------------------------>______________________________________________] 34.06% 114 p/s1972 / 5725 [------------------------>______________________________________________] 34.45% 114 p/s1995 / 5725 [------------------------>______________________________________________] 34.85% 114 p/s2018 / 5725 [------------------------->_____________________________________________] 35.25% 114 p/s2040 / 5725 [------------------------->_____________________________________________] 35.63% 114 p/s2062 / 5725 [------------------------->_____________________________________________] 36.02% 114 p/s2083 / 5725 [------------------------->_____________________________________________] 36.38% 114 p/s2104 / 5725 [-------------------------->____________________________________________] 36.75% 114 p/s2127 / 5725 [-------------------------->____________________________________________] 37.15% 113 p/s2149 / 5725 [-------------------------->____________________________________________] 37.54% 113 p/s2172 / 5725 [-------------------------->____________________________________________] 37.94% 113 p/s2195 / 5725 [--------------------------->___________________________________________] 38.34% 113 p/s2218 / 5725 [--------------------------->___________________________________________] 38.74% 113 p/s2241 / 5725 [--------------------------->___________________________________________] 39.14% 113 p/s2264 / 5725 [---------------------------->__________________________________________] 39.55% 114 p/s2287 / 5725 [---------------------------->__________________________________________] 39.95% 114 p/s2309 / 5725 [---------------------------->__________________________________________] 40.33% 114 p/s2332 / 5725 [---------------------------->__________________________________________] 40.73% 113 p/s2355 / 5725 [----------------------------->_________________________________________] 41.14% 113 p/s2378 / 5725 [----------------------------->_________________________________________] 41.54% 113 p/s2401 / 5725 [----------------------------->_________________________________________] 41.94% 114 p/s2423 / 5725 [------------------------------>________________________________________] 42.32% 114 p/s2446 / 5725 [------------------------------>________________________________________] 42.72% 114 p/s2470 / 5725 [------------------------------>________________________________________] 43.14% 114 p/s2493 / 5725 [------------------------------>________________________________________] 43.55% 114 p/s2516 / 5725 [------------------------------->_______________________________________] 43.95% 114 p/s2539 / 5725 [------------------------------->_______________________________________] 44.35% 114 p/s2562 / 5725 [------------------------------->_______________________________________] 44.75% 114 p/s2585 / 5725 [-------------------------------->______________________________________] 45.15% 114 p/s2609 / 5725 [-------------------------------->______________________________________] 45.57% 114 p/s2631 / 5725 [-------------------------------->______________________________________] 45.96% 114 p/s2651 / 5725 [-------------------------------->______________________________________] 46.31% 114 p/s2675 / 5725 [--------------------------------->_____________________________________] 46.72% 114 p/s2698 / 5725 [--------------------------------->_____________________________________] 47.13% 114 p/s2721 / 5725 [--------------------------------->_____________________________________] 47.53% 114 p/s2744 / 5725 [---------------------------------->____________________________________] 47.93% 114 p/s2768 / 5725 [---------------------------------->____________________________________] 48.35% 114 p/s2791 / 5725 [---------------------------------->____________________________________] 48.75% 114 p/s2814 / 5725 [---------------------------------->____________________________________] 49.15% 114 p/s2837 / 5725 [----------------------------------->___________________________________] 49.55% 114 p/s2860 / 5725 [----------------------------------->___________________________________] 49.96% 114 p/s2884 / 5725 [----------------------------------->___________________________________] 50.38% 114 p/s2907 / 5725 [------------------------------------>__________________________________] 50.78% 114 p/s2930 / 5725 [------------------------------------>__________________________________] 51.18% 114 p/s2953 / 5725 [------------------------------------>__________________________________] 51.58% 114 p/s2977 / 5725 [------------------------------------>__________________________________] 52.00% 114 p/s3000 / 5725 [------------------------------------->_________________________________] 52.40% 114 p/s3022 / 5725 [------------------------------------->_________________________________] 52.79% 114 p/s3045 / 5725 [------------------------------------->_________________________________] 53.19% 114 p/s3067 / 5725 [-------------------------------------->________________________________] 53.57% 114 p/s3090 / 5725 [-------------------------------------->________________________________] 53.97% 114 p/s3113 / 5725 [-------------------------------------->________________________________] 54.38% 114 p/s3137 / 5725 [-------------------------------------->________________________________] 54.79% 114 p/s3160 / 5725 [--------------------------------------->_______________________________] 55.20% 114 p/s3183 / 5725 [--------------------------------------->_______________________________] 55.60% 114 p/s3206 / 5725 [--------------------------------------->_______________________________] 56.00% 114 p/s3229 / 5725 [---------------------------------------->______________________________] 56.40% 114 p/s3252 / 5725 [---------------------------------------->______________________________] 56.80% 114 p/s3275 / 5725 [---------------------------------------->______________________________] 57.21% 114 p/s3298 / 5725 [---------------------------------------->______________________________] 57.61% 114 p/s3321 / 5725 [----------------------------------------->_____________________________] 58.01% 114 p/s3345 / 5725 [----------------------------------------->_____________________________] 58.43% 114 p/s3368 / 5725 [----------------------------------------->_____________________________] 58.83% 115 p/s3391 / 5725 [------------------------------------------>____________________________] 59.23% 115 p/s3414 / 5725 [------------------------------------------>____________________________] 59.63% 115 p/s3438 / 5725 [------------------------------------------>____________________________] 60.05% 115 p/s3461 / 5725 [------------------------------------------>____________________________] 60.45% 115 p/s3484 / 5725 [------------------------------------------->___________________________] 60.86% 115 p/s3507 / 5725 [------------------------------------------->___________________________] 61.26% 115 p/s3530 / 5725 [------------------------------------------->___________________________] 61.66% 115 p/s3553 / 5725 [-------------------------------------------->__________________________] 62.06% 115 p/s3575 / 5725 [-------------------------------------------->__________________________] 62.45% 115 p/s3599 / 5725 [-------------------------------------------->__________________________] 62.86% 115 p/s3622 / 5725 [-------------------------------------------->__________________________] 63.27% 115 p/s3645 / 5725 [--------------------------------------------->_________________________] 63.67% 115 p/s3668 / 5725 [--------------------------------------------->_________________________] 64.07% 115 p/s3691 / 5725 [--------------------------------------------->_________________________] 64.47% 115 p/s3713 / 5725 [---------------------------------------------->________________________] 64.86% 115 p/s3735 / 5725 [---------------------------------------------->________________________] 65.24% 115 p/s3758 / 5725 [---------------------------------------------->________________________] 65.64% 115 p/s3781 / 5725 [---------------------------------------------->________________________] 66.04% 115 p/s3804 / 5725 [----------------------------------------------->_______________________] 66.45% 115 p/s3828 / 5725 [----------------------------------------------->_______________________] 66.86% 115 p/s3851 / 5725 [----------------------------------------------->_______________________] 67.27% 115 p/s3874 / 5725 [------------------------------------------------>______________________] 67.67% 115 p/s3897 / 5725 [------------------------------------------------>______________________] 68.07% 115 p/s3920 / 5725 [------------------------------------------------>______________________] 68.47% 115 p/s3944 / 5725 [------------------------------------------------>______________________] 68.89% 115 p/s3967 / 5725 [------------------------------------------------->_____________________] 69.29% 115 p/s3990 / 5725 [------------------------------------------------->_____________________] 69.69% 115 p/s4012 / 5725 [------------------------------------------------->_____________________] 70.08% 115 p/s4036 / 5725 [-------------------------------------------------->____________________] 70.50% 115 p/s4059 / 5725 [-------------------------------------------------->____________________] 70.90% 115 p/s4082 / 5725 [-------------------------------------------------->____________________] 71.30% 115 p/s4105 / 5725 [-------------------------------------------------->____________________] 71.70% 115 p/s4128 / 5725 [--------------------------------------------------->___________________] 72.10% 115 p/s4151 / 5725 [--------------------------------------------------->___________________] 72.51% 115 p/s4174 / 5725 [--------------------------------------------------->___________________] 72.91% 115 p/s4197 / 5725 [---------------------------------------------------->__________________] 73.31% 115 p/s4220 / 5725 [---------------------------------------------------->__________________] 73.71% 115 p/s4243 / 5725 [---------------------------------------------------->__________________] 74.11% 115 p/s4266 / 5725 [---------------------------------------------------->__________________] 74.52% 115 p/s4289 / 5725 [----------------------------------------------------->_________________] 74.92% 115 p/s4312 / 5725 [----------------------------------------------------->_________________] 75.32% 115 p/s4335 / 5725 [----------------------------------------------------->_________________] 75.72% 115 p/s4358 / 5725 [------------------------------------------------------>________________] 76.12% 115 p/s4381 / 5725 [------------------------------------------------------>________________] 76.52% 115 p/s4405 / 5725 [------------------------------------------------------>________________] 76.94% 115 p/s4428 / 5725 [------------------------------------------------------>________________] 77.34% 115 p/s4451 / 5725 [------------------------------------------------------->_______________] 77.75% 115 p/s4474 / 5725 [------------------------------------------------------->_______________] 78.15% 115 p/s4497 / 5725 [------------------------------------------------------->_______________] 78.55% 115 p/s4520 / 5725 [-------------------------------------------------------->______________] 78.95% 115 p/s4543 / 5725 [-------------------------------------------------------->______________] 79.35% 115 p/s4566 / 5725 [-------------------------------------------------------->______________] 79.76% 115 p/s4589 / 5725 [-------------------------------------------------------->______________] 80.16% 115 p/s4612 / 5725 [--------------------------------------------------------->_____________] 80.56% 115 p/s4635 / 5725 [--------------------------------------------------------->_____________] 80.96% 115 p/s4658 / 5725 [--------------------------------------------------------->_____________] 81.36% 115 p/s4681 / 5725 [---------------------------------------------------------->____________] 81.76% 115 p/s4704 / 5725 [---------------------------------------------------------->____________] 82.17% 115 p/s4727 / 5725 [---------------------------------------------------------->____________] 82.57% 115 p/s4750 / 5725 [---------------------------------------------------------->____________] 82.97% 115 p/s4771 / 5725 [----------------------------------------------------------->___________] 83.34% 115 p/s4794 / 5725 [----------------------------------------------------------->___________] 83.74% 115 p/s4817 / 5725 [----------------------------------------------------------->___________] 84.14% 115 p/s4840 / 5725 [------------------------------------------------------------>__________] 84.54% 115 p/s4863 / 5725 [------------------------------------------------------------>__________] 84.94% 115 p/s4886 / 5725 [------------------------------------------------------------>__________] 85.34% 115 p/s4909 / 5725 [------------------------------------------------------------>__________] 85.75% 115 p/s4933 / 5725 [------------------------------------------------------------->_________] 86.17% 115 p/s4956 / 5725 [------------------------------------------------------------->_________] 86.57% 115 p/s4979 / 5725 [------------------------------------------------------------->_________] 86.97% 115 p/s5002 / 5725 [-------------------------------------------------------------->________] 87.37% 115 p/s5025 / 5725 [-------------------------------------------------------------->________] 87.77% 115 p/s5048 / 5725 [-------------------------------------------------------------->________] 88.17% 115 p/s5071 / 5725 [-------------------------------------------------------------->________] 88.58% 115 p/s5094 / 5725 [--------------------------------------------------------------->_______] 88.98% 115 p/s5117 / 5725 [--------------------------------------------------------------->_______] 89.38% 115 p/s5140 / 5725 [--------------------------------------------------------------->_______] 89.78% 115 p/s5163 / 5725 [---------------------------------------------------------------->______] 90.18% 115 p/s5186 / 5725 [---------------------------------------------------------------->______] 90.59% 115 p/s5209 / 5725 [---------------------------------------------------------------->______] 90.99% 115 p/s5232 / 5725 [---------------------------------------------------------------->______] 91.39% 115 p/s5255 / 5725 [----------------------------------------------------------------->_____] 91.79% 115 p/s5278 / 5725 [----------------------------------------------------------------->_____] 92.19% 115 p/s5301 / 5725 [----------------------------------------------------------------->_____] 92.59% 115 p/s5324 / 5725 [------------------------------------------------------------------>____] 93.00% 115 p/s5348 / 5725 [------------------------------------------------------------------>____] 93.41% 115 p/s5371 / 5725 [------------------------------------------------------------------>____] 93.82% 115 p/s5394 / 5725 [------------------------------------------------------------------>____] 94.22% 115 p/s5416 / 5725 [------------------------------------------------------------------->___] 94.60% 115 p/s5439 / 5725 [------------------------------------------------------------------->___] 95.00% 115 p/s5462 / 5725 [------------------------------------------------------------------->___] 95.41% 115 p/s5485 / 5725 [-------------------------------------------------------------------->__] 95.81% 115 p/s5508 / 5725 [-------------------------------------------------------------------->__] 96.21% 115 p/s5531 / 5725 [-------------------------------------------------------------------->__] 96.61% 115 p/s5554 / 5725 [-------------------------------------------------------------------->__] 97.01% 115 p/s5577 / 5725 [--------------------------------------------------------------------->_] 97.41% 115 p/s5600 / 5725 [--------------------------------------------------------------------->_] 97.82% 115 p/s5623 / 5725 [--------------------------------------------------------------------->_] 98.22% 115 p/s5646 / 5725 [---------------------------------------------------------------------->] 98.62% 115 p/s5668 / 5725 [---------------------------------------------------------------------->] 99.00% 115 p/s5691 / 5725 [---------------------------------------------------------------------->] 99.41% 115 p/s5714 / 5725 [---------------------------------------------------------------------->] 99.81% 115 p/s5725 / 5725 [----------------------------------------------------------------------] 100.00% 115 p/s2026-03-18T06:46:48 - INFO: Parsing 5725 sonar sweeps from /working/a6118df3-7573-c262-c796-239ab98ebc33/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/5725 [00:00<?, ?it/s]
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  0%|          | 6/5725 [00:00<03:22, 28.18it/s]
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  0%|          | 27/5725 [00:00<03:19, 28.55it/s]
  1%|          | 30/5725 [00:01<03:19, 28.58it/s]
  1%|          | 33/5725 [00:01<03:18, 28.62it/s]
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  1%|          | 60/5725 [00:02<03:17, 28.72it/s]
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  1%|          | 69/5725 [00:02<03:17, 28.60it/s]
  1%|▏         | 72/5725 [00:02<03:17, 28.57it/s]
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  1%|▏         | 78/5725 [00:02<03:18, 28.51it/s]
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  1%|▏         | 84/5725 [00:02<03:17, 28.50it/s]
  2%|▏         | 87/5725 [00:03<03:17, 28.48it/s]
  2%|▏         | 90/5725 [00:03<03:17, 28.49it/s]
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  2%|▏         | 111/5725 [00:03<03:16, 28.53it/s]
  2%|▏         | 114/5725 [00:03<03:16, 28.56it/s]
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2026-03-18T06:50:13 - 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/a6118df3-7573-c262-c796-239ab98ebc33/a6118df3-7573-c262-c796-239ab98ebc33"
2026-03-18T06:50:15 - INFO: DataPrep 0.14.0rc2
2026-03-18T06:50:15 - INFO: Prepared data will be output to /working/a6118df3-7573-c262-c796-239ab98ebc33/a6118df3-7573-c262-c796-239ab98ebc33/processing/data
2026-03-18T06:50:15 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-18T06:50:15 - deployment - INFO: Detected P3D version: P3D_1
2026-03-18T06:50:15 - INFO: Recording GUID: a6118df3-7573-c262-c796-239ab98ebc33
2026-03-18T06:50:15 - INFO: Preparing sonar data...
2026-03-18T06:50:15 - INFO: /working/a6118df3-7573-c262-c796-239ab98ebc33/a6118df3-7573-c262-c796-239ab98ebc33/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-18T06:50:20 - INFO: Sonar epoch is 2026-01-14 16:11:46.977297+00:00 (1768407106977296754)
2026-03-18T06:50:20 - INFO: Creating sonar sensor alignment track...
2026-03-18T06:50:20 - INFO: Using sonar rotation of 0.104720 radians for wedge mask
2026-03-18T06:50:20 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-18T06:50:20 - INFO: Sonar range is 0.939120 m
2026-03-18T06:50:20 - INFO: Speed of sound is 1472 m/s
2026-03-18T06:50:20 - INFO: Processing 5725 sweeps...

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2026-03-18T06:50:42 - INFO: Prepared sonar data in 26.9534 s
2026-03-18T06:50:42 - INFO: No IMU data found
2026-03-18T06:50:43 - INFO: DataPrep took 0:00:27.765828
2026-03-18T06:50:43 - INFO: Extracted sonar data in 0:04:45.451985
2026-03-18T06:50:43 - INFO: MSIP3D took 0:04:46.016109