2026-03-18T10:10:56 - INFO: MSIP3D 0.2.0rc2
2026-03-18T10:10:56 - INFO: P3D files will be output to /working/a6118df3-7573-c262-c796-239ab98ebc33/a6118df3-7573-c262-c796-239ab98ebc33
2026-03-18T10:10:56 - INFO: Found 10 TFD dictionary entries
2026-03-18T10:10:57 - INFO: Found TFD mission for SJ502795 Dep 15
2026-03-18T10:10:57 - INFO: Recording will be processed as MD
2026-03-18T10:10:57 - INFO: Copying assets JSON to output directory...
2026-03-18T10:10:57 - INFO: Preparing counter data...
2026-03-18T10:10:57 - INFO: Interpreting counter as imperial
2026-03-18T10:10:57 - INFO: Preparing size track from assets JSON...
2026-03-18T10:10:57 - INFO: Preparing shape track from assets JSON...
2026-03-18T10:10:57 - INFO: Preparing material track from assets JSON...
2026-03-18T10:10:57 - INFO: Prepared counter data in 0.0880 s
2026-03-18T10:10:57 - 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: Checkpoint, Tag: 4857243675797774090
Name: CCTV, Tag: 4855221467469924931
Name: LASER, Tag: 4855221467469924940
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 5725
21 / 5725 [>___________________________________________________________________________] 0.37% ? p/s44 / 5725 [>___________________________________________________________________________] 0.77% ? p/s66 / 5725 [>___________________________________________________________________________] 1.15% ? p/s88 / 5725 [->________________________________________________________________________] 1.54% 112 p/s111 / 5725 [->_______________________________________________________________________] 1.94% 112 p/s132 / 5725 [->_______________________________________________________________________] 2.31% 112 p/s154 / 5725 [->_______________________________________________________________________] 2.69% 112 p/s176 / 5725 [-->______________________________________________________________________] 3.07% 112 p/s199 / 5725 [-->______________________________________________________________________] 3.48% 112 p/s221 / 5725 [-->______________________________________________________________________] 3.86% 112 p/s243 / 5725 [--->_____________________________________________________________________] 4.24% 112 p/s265 / 5725 [--->_____________________________________________________________________] 4.63% 112 p/s288 / 5725 [--->_____________________________________________________________________] 5.03% 112 p/s310 / 5725 [--->_____________________________________________________________________] 5.41% 112 p/s333 / 5725 [---->____________________________________________________________________] 5.82% 112 p/s355 / 5725 [---->____________________________________________________________________] 6.20% 112 p/s378 / 5725 [---->____________________________________________________________________] 6.60% 112 p/s401 / 5725 [----->___________________________________________________________________] 7.00% 112 p/s423 / 5725 [----->___________________________________________________________________] 7.39% 112 p/s446 / 5725 [----->___________________________________________________________________] 7.79% 112 p/s469 / 5725 [----->___________________________________________________________________] 8.19% 112 p/s491 / 5725 [------>__________________________________________________________________] 8.58% 112 p/s513 / 5725 [------>__________________________________________________________________] 8.96% 112 p/s536 / 5725 [------>__________________________________________________________________] 9.36% 112 p/s559 / 5725 [------->_________________________________________________________________] 9.76% 112 p/s581 / 5725 [------->________________________________________________________________] 10.15% 112 p/s604 / 5725 [------->________________________________________________________________] 10.55% 112 p/s627 / 5725 [------->________________________________________________________________] 10.95% 112 p/s649 / 5725 [-------->_______________________________________________________________] 11.34% 112 p/s672 / 5725 [-------->_______________________________________________________________] 11.74% 112 p/s694 / 5725 [-------->_______________________________________________________________] 12.12% 112 p/s717 / 5725 [--------->______________________________________________________________] 12.52% 112 p/s740 / 5725 [--------->______________________________________________________________] 12.93% 112 p/s763 / 5725 [--------->______________________________________________________________] 13.33% 112 p/s786 / 5725 [--------->______________________________________________________________] 13.73% 112 p/s807 / 5725 [---------->_____________________________________________________________] 14.10% 112 p/s830 / 5725 [---------->_____________________________________________________________] 14.50% 112 p/s852 / 5725 [---------->_____________________________________________________________] 14.88% 112 p/s875 / 5725 [----------->____________________________________________________________] 15.28% 112 p/s898 / 5725 [----------->____________________________________________________________] 15.69% 112 p/s921 / 5725 [----------->____________________________________________________________] 16.09% 112 p/s943 / 5725 [----------->____________________________________________________________] 16.47% 112 p/s966 / 5725 [------------>___________________________________________________________] 16.87% 112 p/s989 / 5725 [------------>___________________________________________________________] 17.28% 112 p/s1011 / 5725 [------------>__________________________________________________________] 17.66% 112 p/s1033 / 5725 [------------>__________________________________________________________] 18.04% 112 p/s1055 / 5725 [------------->_________________________________________________________] 18.43% 112 p/s1078 / 5725 [------------->_________________________________________________________] 18.83% 112 p/s1101 / 5725 [------------->_________________________________________________________] 19.23% 112 p/s1123 / 5725 [------------->_________________________________________________________] 19.62% 112 p/s1146 / 5725 [-------------->________________________________________________________] 20.02% 112 p/s1168 / 5725 [-------------->________________________________________________________] 20.40% 112 p/s1191 / 5725 [-------------->________________________________________________________] 20.80% 112 p/s1213 / 5725 [--------------->_______________________________________________________] 21.19% 112 p/s1236 / 5725 [--------------->_______________________________________________________] 21.59% 112 p/s1258 / 5725 [--------------->_______________________________________________________] 21.97% 112 p/s1281 / 5725 [--------------->_______________________________________________________] 22.38% 112 p/s1304 / 5725 [---------------->______________________________________________________] 22.78% 112 p/s1326 / 5725 [---------------->______________________________________________________] 23.16% 112 p/s1349 / 5725 [---------------->______________________________________________________] 23.56% 112 p/s1372 / 5725 [----------------->_____________________________________________________] 23.97% 112 p/s1395 / 5725 [----------------->_____________________________________________________] 24.37% 112 p/s1417 / 5725 [----------------->_____________________________________________________] 24.75% 112 p/s1440 / 5725 [----------------->_____________________________________________________] 25.15% 113 p/s1463 / 5725 [------------------>____________________________________________________] 25.55% 113 p/s1485 / 5725 [------------------>____________________________________________________] 25.94% 113 p/s1508 / 5725 [------------------>____________________________________________________] 26.34% 113 p/s1531 / 5725 [------------------>____________________________________________________] 26.74% 113 p/s1554 / 5725 [------------------->___________________________________________________] 27.14% 113 p/s1577 / 5725 [------------------->___________________________________________________] 27.55% 113 p/s1599 / 5725 [------------------->___________________________________________________] 27.93% 113 p/s1622 / 5725 [-------------------->__________________________________________________] 28.33% 113 p/s1644 / 5725 [-------------------->__________________________________________________] 28.72% 113 p/s1667 / 5725 [-------------------->__________________________________________________] 29.12% 113 p/s1690 / 5725 [-------------------->__________________________________________________] 29.52% 113 p/s1712 / 5725 [--------------------->_________________________________________________] 29.90% 113 p/s1735 / 5725 [--------------------->_________________________________________________] 30.31% 113 p/s1757 / 5725 [--------------------->_________________________________________________] 30.69% 113 p/s1780 / 5725 [---------------------->________________________________________________] 31.09% 113 p/s1802 / 5725 [---------------------->________________________________________________] 31.48% 113 p/s1825 / 5725 [---------------------->________________________________________________] 31.88% 113 p/s1847 / 5725 [---------------------->________________________________________________] 32.26% 113 p/s1870 / 5725 [----------------------->_______________________________________________] 32.66% 113 p/s1893 / 5725 [----------------------->_______________________________________________] 33.07% 113 p/s1915 / 5725 [----------------------->_______________________________________________] 33.45% 113 p/s1938 / 5725 [------------------------>______________________________________________] 33.85% 113 p/s1961 / 5725 [------------------------>______________________________________________] 34.25% 113 p/s1983 / 5725 [------------------------>______________________________________________] 34.64% 113 p/s2006 / 5725 [------------------------>______________________________________________] 35.04% 113 p/s2028 / 5725 [------------------------->_____________________________________________] 35.42% 113 p/s2050 / 5725 [------------------------->_____________________________________________] 35.81% 113 p/s2072 / 5725 [------------------------->_____________________________________________] 36.19% 113 p/s2095 / 5725 [------------------------->_____________________________________________] 36.59% 113 p/s2118 / 5725 [-------------------------->____________________________________________] 37.00% 113 p/s2140 / 5725 [-------------------------->____________________________________________] 37.38% 113 p/s2162 / 5725 [-------------------------->____________________________________________] 37.76% 113 p/s2185 / 5725 [--------------------------->___________________________________________] 38.17% 113 p/s2208 / 5725 [--------------------------->___________________________________________] 38.57% 113 p/s2230 / 5725 [--------------------------->___________________________________________] 38.95% 113 p/s2252 / 5725 [--------------------------->___________________________________________] 39.34% 113 p/s2275 / 5725 [---------------------------->__________________________________________] 39.74% 113 p/s2298 / 5725 [---------------------------->__________________________________________] 40.14% 113 p/s2320 / 5725 [---------------------------->__________________________________________] 40.52% 113 p/s2343 / 5725 [----------------------------->_________________________________________] 40.93% 113 p/s2366 / 5725 [----------------------------->_________________________________________] 41.33% 113 p/s2388 / 5725 [----------------------------->_________________________________________] 41.71% 113 p/s2410 / 5725 [----------------------------->_________________________________________] 42.10% 113 p/s2433 / 5725 [------------------------------>________________________________________] 42.50% 113 p/s2455 / 5725 [------------------------------>________________________________________] 42.88% 113 p/s2478 / 5725 [------------------------------>________________________________________] 43.28% 113 p/s2501 / 5725 [------------------------------->_______________________________________] 43.69% 113 p/s2524 / 5725 [------------------------------->_______________________________________] 44.09% 113 p/s2546 / 5725 [------------------------------->_______________________________________] 44.47% 113 p/s2569 / 5725 [------------------------------->_______________________________________] 44.87% 113 p/s2592 / 5725 [-------------------------------->______________________________________] 45.28% 113 p/s2615 / 5725 [-------------------------------->______________________________________] 45.68% 113 p/s2637 / 5725 [-------------------------------->______________________________________] 46.06% 113 p/s2660 / 5725 [-------------------------------->______________________________________] 46.46% 113 p/s2683 / 5725 [--------------------------------->_____________________________________] 46.86% 113 p/s2706 / 5725 [--------------------------------->_____________________________________] 47.27% 113 p/s2729 / 5725 [--------------------------------->_____________________________________] 47.67% 113 p/s2752 / 5725 [---------------------------------->____________________________________] 48.07% 113 p/s2774 / 5725 [---------------------------------->____________________________________] 48.45% 113 p/s2797 / 5725 [---------------------------------->____________________________________] 48.86% 113 p/s2819 / 5725 [---------------------------------->____________________________________] 49.24% 113 p/s2842 / 5725 [----------------------------------->___________________________________] 49.64% 113 p/s2865 / 5725 [----------------------------------->___________________________________] 50.04% 113 p/s2888 / 5725 [----------------------------------->___________________________________] 50.45% 113 p/s2911 / 5725 [------------------------------------>__________________________________] 50.85% 113 p/s2933 / 5725 [------------------------------------>__________________________________] 51.23% 113 p/s2956 / 5725 [------------------------------------>__________________________________] 51.63% 113 p/s2979 / 5725 [------------------------------------>__________________________________] 52.03% 113 p/s3001 / 5725 [------------------------------------->_________________________________] 52.42% 113 p/s3024 / 5725 [------------------------------------->_________________________________] 52.82% 113 p/s3046 / 5725 [------------------------------------->_________________________________] 53.21% 113 p/s3069 / 5725 [-------------------------------------->________________________________] 53.61% 113 p/s3092 / 5725 [-------------------------------------->________________________________] 54.01% 113 p/s3115 / 5725 [-------------------------------------->________________________________] 54.41% 113 p/s3137 / 5725 [-------------------------------------->________________________________] 54.79% 113 p/s3160 / 5725 [--------------------------------------->_______________________________] 55.20% 113 p/s3183 / 5725 [--------------------------------------->_______________________________] 55.60% 113 p/s3205 / 5725 [--------------------------------------->_______________________________] 55.98% 113 p/s3228 / 5725 [---------------------------------------->______________________________] 56.38% 113 p/s3251 / 5725 [---------------------------------------->______________________________] 56.79% 113 p/s3274 / 5725 [---------------------------------------->______________________________] 57.19% 113 p/s3296 / 5725 [---------------------------------------->______________________________] 57.57% 113 p/s3319 / 5725 [----------------------------------------->_____________________________] 57.97% 113 p/s3341 / 5725 [----------------------------------------->_____________________________] 58.36% 113 p/s3364 / 5725 [----------------------------------------->_____________________________] 58.76% 113 p/s3387 / 5725 [------------------------------------------>____________________________] 59.16% 113 p/s3409 / 5725 [------------------------------------------>____________________________] 59.55% 113 p/s3432 / 5725 [------------------------------------------>____________________________] 59.95% 113 p/s3454 / 5725 [------------------------------------------>____________________________] 60.33% 113 p/s3477 / 5725 [------------------------------------------->___________________________] 60.73% 113 p/s3500 / 5725 [------------------------------------------->___________________________] 61.14% 113 p/s3522 / 5725 [------------------------------------------->___________________________] 61.52% 113 p/s3545 / 5725 [------------------------------------------->___________________________] 61.92% 113 p/s3568 / 5725 [-------------------------------------------->__________________________] 62.32% 113 p/s3590 / 5725 [-------------------------------------------->__________________________] 62.71% 113 p/s3613 / 5725 [-------------------------------------------->__________________________] 63.11% 113 p/s3636 / 5725 [--------------------------------------------->_________________________] 63.51% 113 p/s3658 / 5725 [--------------------------------------------->_________________________] 63.90% 113 p/s3681 / 5725 [--------------------------------------------->_________________________] 64.30% 113 p/s3704 / 5725 [--------------------------------------------->_________________________] 64.70% 113 p/s3726 / 5725 [---------------------------------------------->________________________] 65.08% 113 p/s3749 / 5725 [---------------------------------------------->________________________] 65.48% 113 p/s3772 / 5725 [---------------------------------------------->________________________] 65.89% 113 p/s3794 / 5725 [----------------------------------------------->_______________________] 66.27% 113 p/s3817 / 5725 [----------------------------------------------->_______________________] 66.67% 113 p/s3840 / 5725 [----------------------------------------------->_______________________] 67.07% 113 p/s3862 / 5725 [----------------------------------------------->_______________________] 67.46% 113 p/s3885 / 5725 [------------------------------------------------>______________________] 67.86% 113 p/s3908 / 5725 [------------------------------------------------>______________________] 68.26% 113 p/s3930 / 5725 [------------------------------------------------>______________________] 68.65% 113 p/s3953 / 5725 [------------------------------------------------->_____________________] 69.05% 113 p/s3976 / 5725 [------------------------------------------------->_____________________] 69.45% 113 p/s3998 / 5725 [------------------------------------------------->_____________________] 69.83% 113 p/s4021 / 5725 [------------------------------------------------->_____________________] 70.24% 113 p/s4043 / 5725 [-------------------------------------------------->____________________] 70.62% 113 p/s4066 / 5725 [-------------------------------------------------->____________________] 71.02% 113 p/s4088 / 5725 [-------------------------------------------------->____________________] 71.41% 113 p/s4111 / 5725 [-------------------------------------------------->____________________] 71.81% 113 p/s4133 / 5725 [--------------------------------------------------->___________________] 72.19% 113 p/s4156 / 5725 [--------------------------------------------------->___________________] 72.59% 113 p/s4178 / 5725 [--------------------------------------------------->___________________] 72.98% 113 p/s4201 / 5725 [---------------------------------------------------->__________________] 73.38% 113 p/s4223 / 5725 [---------------------------------------------------->__________________] 73.76% 113 p/s4246 / 5725 [---------------------------------------------------->__________________] 74.17% 113 p/s4268 / 5725 [---------------------------------------------------->__________________] 74.55% 113 p/s4291 / 5725 [----------------------------------------------------->_________________] 74.95% 113 p/s4314 / 5725 [----------------------------------------------------->_________________] 75.35% 113 p/s4336 / 5725 [----------------------------------------------------->_________________] 75.74% 113 p/s4359 / 5725 [------------------------------------------------------>________________] 76.14% 113 p/s4381 / 5725 [------------------------------------------------------>________________] 76.52% 113 p/s4404 / 5725 [------------------------------------------------------>________________] 76.93% 113 p/s4427 / 5725 [------------------------------------------------------>________________] 77.33% 113 p/s4449 / 5725 [------------------------------------------------------->_______________] 77.71% 113 p/s4472 / 5725 [------------------------------------------------------->_______________] 78.11% 113 p/s4495 / 5725 [------------------------------------------------------->_______________] 78.52% 113 p/s4518 / 5725 [-------------------------------------------------------->______________] 78.92% 113 p/s4540 / 5725 [-------------------------------------------------------->______________] 79.30% 113 p/s4563 / 5725 [-------------------------------------------------------->______________] 79.70% 113 p/s4586 / 5725 [-------------------------------------------------------->______________] 80.10% 113 p/s4608 / 5725 [--------------------------------------------------------->_____________] 80.49% 113 p/s4630 / 5725 [--------------------------------------------------------->_____________] 80.87% 113 p/s4652 / 5725 [--------------------------------------------------------->_____________] 81.26% 113 p/s4675 / 5725 [--------------------------------------------------------->_____________] 81.66% 113 p/s4697 / 5725 [---------------------------------------------------------->____________] 82.04% 113 p/s4720 / 5725 [---------------------------------------------------------->____________] 82.45% 113 p/s4742 / 5725 [---------------------------------------------------------->____________] 82.83% 113 p/s4764 / 5725 [----------------------------------------------------------->___________] 83.21% 113 p/s4787 / 5725 [----------------------------------------------------------->___________] 83.62% 113 p/s4810 / 5725 [----------------------------------------------------------->___________] 84.02% 113 p/s4833 / 5725 [----------------------------------------------------------->___________] 84.42% 113 p/s4855 / 5725 [------------------------------------------------------------>__________] 84.80% 113 p/s4878 / 5725 [------------------------------------------------------------>__________] 85.21% 113 p/s4900 / 5725 [------------------------------------------------------------>__________] 85.59% 113 p/s4923 / 5725 [------------------------------------------------------------->_________] 85.99% 113 p/s4945 / 5725 [------------------------------------------------------------->_________] 86.38% 113 p/s4968 / 5725 [------------------------------------------------------------->_________] 86.78% 113 p/s4990 / 5725 [------------------------------------------------------------->_________] 87.16% 113 p/s5013 / 5725 [-------------------------------------------------------------->________] 87.56% 113 p/s5036 / 5725 [-------------------------------------------------------------->________] 87.97% 113 p/s5059 / 5725 [-------------------------------------------------------------->________] 88.37% 113 p/s5081 / 5725 [--------------------------------------------------------------->_______] 88.75% 113 p/s5104 / 5725 [--------------------------------------------------------------->_______] 89.15% 113 p/s5126 / 5725 [--------------------------------------------------------------->_______] 89.54% 113 p/s5149 / 5725 [--------------------------------------------------------------->_______] 89.94% 113 p/s5171 / 5725 [---------------------------------------------------------------->______] 90.32% 113 p/s5194 / 5725 [---------------------------------------------------------------->______] 90.72% 113 p/s5216 / 5725 [---------------------------------------------------------------->______] 91.11% 113 p/s5239 / 5725 [---------------------------------------------------------------->______] 91.51% 113 p/s5261 / 5725 [----------------------------------------------------------------->_____] 91.90% 113 p/s5284 / 5725 [----------------------------------------------------------------->_____] 92.30% 113 p/s5307 / 5725 [----------------------------------------------------------------->_____] 92.70% 113 p/s5329 / 5725 [------------------------------------------------------------------>____] 93.08% 113 p/s5351 / 5725 [------------------------------------------------------------------>____] 93.47% 113 p/s5374 / 5725 [------------------------------------------------------------------>____] 93.87% 113 p/s5397 / 5725 [------------------------------------------------------------------>____] 94.27% 113 p/s5419 / 5725 [------------------------------------------------------------------->___] 94.66% 113 p/s5442 / 5725 [------------------------------------------------------------------->___] 95.06% 113 p/s5464 / 5725 [------------------------------------------------------------------->___] 95.44% 113 p/s5487 / 5725 [-------------------------------------------------------------------->__] 95.84% 113 p/s5509 / 5725 [-------------------------------------------------------------------->__] 96.23% 113 p/s5532 / 5725 [-------------------------------------------------------------------->__] 96.63% 113 p/s5554 / 5725 [-------------------------------------------------------------------->__] 97.01% 113 p/s5577 / 5725 [--------------------------------------------------------------------->_] 97.41% 113 p/s5599 / 5725 [--------------------------------------------------------------------->_] 97.80% 113 p/s5621 / 5725 [--------------------------------------------------------------------->_] 98.18% 113 p/s5644 / 5725 [--------------------------------------------------------------------->_] 98.59% 113 p/s5666 / 5725 [---------------------------------------------------------------------->] 98.97% 113 p/s5688 / 5725 [---------------------------------------------------------------------->] 99.35% 113 p/s5711 / 5725 [---------------------------------------------------------------------->] 99.76% 113 p/s5725 / 5725 [----------------------------------------------------------------------] 100.00% 113 p/s2026-03-18T10:11:47 - INFO: Parsing 5725 sonar sweeps from /working/a6118df3-7573-c262-c796-239ab98ebc33/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-18T10:15:17 - 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"
2026-03-18T10:15:19 - INFO: DataPrep 0.14.0rc2
2026-03-18T10:15:19 - INFO: Prepared data will be output to /working/a6118df3-7573-c262-c796-239ab98ebc33/a6118df3-7573-c262-c796-239ab98ebc33/processing/data
2026-03-18T10:15:19 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-18T10:15:19 - deployment - INFO: Detected P3D version: P3D_1
2026-03-18T10:15:19 - INFO: Recording GUID: a6118df3-7573-c262-c796-239ab98ebc33
2026-03-18T10:15:19 - INFO: Preparing sonar data...
2026-03-18T10:15:19 - INFO: /working/a6118df3-7573-c262-c796-239ab98ebc33/a6118df3-7573-c262-c796-239ab98ebc33/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-18T10:15:24 - INFO: Sonar epoch is 2026-01-14 16:11:46.977297+00:00 (1768407106977296754)
2026-03-18T10:15:24 - INFO: Creating sonar sensor alignment track...
2026-03-18T10:15:24 - INFO: Using sonar rotation of 0.104720 radians for wedge mask
2026-03-18T10:15:24 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-18T10:15:24 - INFO: Sonar range is 0.939120 m
2026-03-18T10:15:24 - INFO: Speed of sound is 1472 m/s
2026-03-18T10:15:24 - INFO: Processing 5725 sweeps...

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2026-03-18T10:15:46 - INFO: Prepared sonar data in 27.5924 s
2026-03-18T10:15:46 - INFO: No IMU data found
2026-03-18T10:15:47 - INFO: DataPrep took 0:00:28.404947
2026-03-18T10:15:47 - INFO: Extracted sonar data in 0:04:50.440269
2026-03-18T10:15:48 - INFO: MSIP3D took 0:04:51.042370