2026-03-24T08:59:22 - INFO: MSIP3D 0.2.0rc3
2026-03-24T08:59:22 - INFO: P3D files will be output to /working/df5cf81d-2415-ac96-13d6-d24e1da5c2fb/df5cf81d-2415-ac96-13d6-d24e1da5c2fb
2026-03-24T08:59:22 - INFO: Found 10 TFD dictionary entries
2026-03-24T08:59:22 - INFO: Found TFD mission for SJ502795 Dep 11
2026-03-24T08:59:22 - INFO: Recording will be processed as MD
2026-03-24T08:59:22 - INFO: Copying assets JSON to output directory...
2026-03-24T08:59:22 - INFO: Preparing counter data...
2026-03-24T08:59:22 - INFO: Interpreting counter as imperial
2026-03-24T08:59:23 - INFO: Preparing size track from assets JSON...
2026-03-24T08:59:23 - INFO: Preparing shape track from assets JSON...
2026-03-24T08:59:23 - INFO: Preparing material track from assets JSON...
2026-03-24T08:59:23 - INFO: Prepared counter data in 0.1235 s
2026-03-24T08:59:23 - INFO: Extracting sonar data...
TFD path: /working/df5cf81d-2415-ac96-13d6-d24e1da5c2fb/tfd/SJ502795_Dep_11.tfd
TFD path: /working/df5cf81d-2415-ac96-13d6-d24e1da5c2fb/tfd/output
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855221467469924940
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Checkpoint, Tag: 4857243675797774090
Name: CCTV, Tag: 4855221467469924931
Name: Index, Tag: 5291276999180902239
Getting track SONAR
Number of frames: 5789
21 / 5789 [>___________________________________________________________________________] 0.36% ? p/s44 / 5789 [>___________________________________________________________________________] 0.76% ? p/s61 / 5789 [>___________________________________________________________________________] 1.05% ? p/s83 / 5789 [->________________________________________________________________________] 1.43% 103 p/s105 / 5789 [->_______________________________________________________________________] 1.81% 103 p/s127 / 5789 [->_______________________________________________________________________] 2.19% 103 p/s150 / 5789 [->_______________________________________________________________________] 2.59% 104 p/s172 / 5789 [-->______________________________________________________________________] 2.97% 104 p/s195 / 5789 [-->______________________________________________________________________] 3.37% 104 p/s217 / 5789 [-->______________________________________________________________________] 3.75% 104 p/s240 / 5789 [--->_____________________________________________________________________] 4.15% 104 p/s262 / 5789 [--->_____________________________________________________________________] 4.53% 104 p/s285 / 5789 [--->_____________________________________________________________________] 4.92% 105 p/s308 / 5789 [--->_____________________________________________________________________] 5.32% 105 p/s330 / 5789 [---->____________________________________________________________________] 5.70% 105 p/s353 / 5789 [---->____________________________________________________________________] 6.10% 106 p/s374 / 5789 [---->____________________________________________________________________] 6.46% 106 p/s397 / 5789 [----->___________________________________________________________________] 6.86% 106 p/s420 / 5789 [----->___________________________________________________________________] 7.26% 106 p/s443 / 5789 [----->___________________________________________________________________] 7.65% 106 p/s466 / 5789 [----->___________________________________________________________________] 8.05% 106 p/s489 / 5789 [------>__________________________________________________________________] 8.45% 106 p/s511 / 5789 [------>__________________________________________________________________] 8.83% 106 p/s533 / 5789 [------>__________________________________________________________________] 9.21% 106 p/s556 / 5789 [------->_________________________________________________________________] 9.60% 107 p/s579 / 5789 [------->________________________________________________________________] 10.00% 107 p/s602 / 5789 [------->________________________________________________________________] 10.40% 107 p/s625 / 5789 [------->________________________________________________________________] 10.80% 107 p/s642 / 5789 [------->________________________________________________________________] 11.09% 107 p/s665 / 5789 [-------->_______________________________________________________________] 11.49% 107 p/s688 / 5789 [-------->_______________________________________________________________] 11.88% 107 p/s711 / 5789 [-------->_______________________________________________________________] 12.28% 107 p/s734 / 5789 [--------->______________________________________________________________] 12.68% 107 p/s757 / 5789 [--------->______________________________________________________________] 13.08% 108 p/s776 / 5789 [--------->______________________________________________________________] 13.40% 108 p/s799 / 5789 [--------->______________________________________________________________] 13.80% 108 p/s822 / 5789 [---------->_____________________________________________________________] 14.20% 108 p/s845 / 5789 [---------->_____________________________________________________________] 14.60% 108 p/s868 / 5789 [---------->_____________________________________________________________] 14.99% 108 p/s891 / 5789 [----------->____________________________________________________________] 15.39% 108 p/s914 / 5789 [----------->____________________________________________________________] 15.79% 108 p/s937 / 5789 [----------->____________________________________________________________] 16.19% 108 p/s960 / 5789 [----------->____________________________________________________________] 16.58% 109 p/s983 / 5789 [------------>___________________________________________________________] 16.98% 109 p/s1006 / 5789 [------------>__________________________________________________________] 17.38% 109 p/s1028 / 5789 [------------>__________________________________________________________] 17.76% 109 p/s1051 / 5789 [------------>__________________________________________________________] 18.16% 109 p/s1075 / 5789 [------------->_________________________________________________________] 18.57% 109 p/s1098 / 5789 [------------->_________________________________________________________] 18.97% 109 p/s1120 / 5789 [------------->_________________________________________________________] 19.35% 109 p/s1144 / 5789 [-------------->________________________________________________________] 19.76% 109 p/s1167 / 5789 [-------------->________________________________________________________] 20.16% 110 p/s1190 / 5789 [-------------->________________________________________________________] 20.56% 110 p/s1212 / 5789 [-------------->________________________________________________________] 20.94% 110 p/s1235 / 5789 [--------------->_______________________________________________________] 21.33% 110 p/s1258 / 5789 [--------------->_______________________________________________________] 21.73% 110 p/s1280 / 5789 [--------------->_______________________________________________________] 22.11% 110 p/s1303 / 5789 [--------------->_______________________________________________________] 22.51% 110 p/s1326 / 5789 [---------------->______________________________________________________] 22.91% 110 p/s1349 / 5789 [---------------->______________________________________________________] 23.30% 110 p/s1372 / 5789 [---------------->______________________________________________________] 23.70% 111 p/s1395 / 5789 [----------------->_____________________________________________________] 24.10% 111 p/s1417 / 5789 [----------------->_____________________________________________________] 24.48% 111 p/s1439 / 5789 [----------------->_____________________________________________________] 24.86% 111 p/s1462 / 5789 [----------------->_____________________________________________________] 25.25% 111 p/s1485 / 5789 [------------------>____________________________________________________] 25.65% 111 p/s1508 / 5789 [------------------>____________________________________________________] 26.05% 111 p/s1530 / 5789 [------------------>____________________________________________________] 26.43% 111 p/s1554 / 5789 [------------------->___________________________________________________] 26.84% 111 p/s1577 / 5789 [------------------->___________________________________________________] 27.24% 111 p/s1600 / 5789 [------------------->___________________________________________________] 27.64% 111 p/s1622 / 5789 [------------------->___________________________________________________] 28.02% 111 p/s1645 / 5789 [-------------------->__________________________________________________] 28.42% 111 p/s1667 / 5789 [-------------------->__________________________________________________] 28.80% 111 p/s1690 / 5789 [-------------------->__________________________________________________] 29.19% 111 p/s1713 / 5789 [--------------------->_________________________________________________] 29.59% 111 p/s1736 / 5789 [--------------------->_________________________________________________] 29.99% 111 p/s1758 / 5789 [--------------------->_________________________________________________] 30.37% 111 p/s1781 / 5789 [--------------------->_________________________________________________] 30.77% 112 p/s1804 / 5789 [---------------------->________________________________________________] 31.16% 112 p/s1827 / 5789 [---------------------->________________________________________________] 31.56% 112 p/s1850 / 5789 [---------------------->________________________________________________] 31.96% 112 p/s1873 / 5789 [---------------------->________________________________________________] 32.35% 112 p/s1896 / 5789 [----------------------->_______________________________________________] 32.75% 112 p/s1918 / 5789 [----------------------->_______________________________________________] 33.13% 112 p/s1941 / 5789 [----------------------->_______________________________________________] 33.53% 112 p/s1963 / 5789 [------------------------>______________________________________________] 33.91% 112 p/s1985 / 5789 [------------------------>______________________________________________] 34.29% 112 p/s2008 / 5789 [------------------------>______________________________________________] 34.69% 112 p/s2030 / 5789 [------------------------>______________________________________________] 35.07% 112 p/s2052 / 5789 [------------------------->_____________________________________________] 35.45% 112 p/s2074 / 5789 [------------------------->_____________________________________________] 35.83% 112 p/s2097 / 5789 [------------------------->_____________________________________________] 36.22% 112 p/s2120 / 5789 [-------------------------->____________________________________________] 36.62% 112 p/s2142 / 5789 [-------------------------->____________________________________________] 37.00% 112 p/s2165 / 5789 [-------------------------->____________________________________________] 37.40% 112 p/s2188 / 5789 [-------------------------->____________________________________________] 37.80% 112 p/s2211 / 5789 [--------------------------->___________________________________________] 38.19% 112 p/s2232 / 5789 [--------------------------->___________________________________________] 38.56% 112 p/s2255 / 5789 [--------------------------->___________________________________________] 38.95% 112 p/s2278 / 5789 [--------------------------->___________________________________________] 39.35% 112 p/s2300 / 5789 [---------------------------->__________________________________________] 39.73% 112 p/s2323 / 5789 [---------------------------->__________________________________________] 40.13% 112 p/s2345 / 5789 [---------------------------->__________________________________________] 40.51% 112 p/s2368 / 5789 [----------------------------->_________________________________________] 40.91% 112 p/s2391 / 5789 [----------------------------->_________________________________________] 41.30% 112 p/s2413 / 5789 [----------------------------->_________________________________________] 41.68% 112 p/s2436 / 5789 [----------------------------->_________________________________________] 42.08% 112 p/s2458 / 5789 [------------------------------>________________________________________] 42.46% 112 p/s2480 / 5789 [------------------------------>________________________________________] 42.84% 112 p/s2503 / 5789 [------------------------------>________________________________________] 43.24% 112 p/s2525 / 5789 [------------------------------>________________________________________] 43.62% 112 p/s2547 / 5789 [------------------------------->_______________________________________] 44.00% 112 p/s2568 / 5789 [------------------------------->_______________________________________] 44.36% 112 p/s2590 / 5789 [------------------------------->_______________________________________] 44.74% 112 p/s2610 / 5789 [-------------------------------->______________________________________] 45.09% 112 p/s2631 / 5789 [-------------------------------->______________________________________] 45.45% 112 p/s2651 / 5789 [-------------------------------->______________________________________] 45.79% 111 p/s2671 / 5789 [-------------------------------->______________________________________] 46.14% 111 p/s2693 / 5789 [--------------------------------->_____________________________________] 46.52% 111 p/s2715 / 5789 [--------------------------------->_____________________________________] 46.90% 111 p/s2737 / 5789 [--------------------------------->_____________________________________] 47.28% 111 p/s2759 / 5789 [--------------------------------->_____________________________________] 47.66% 111 p/s2780 / 5789 [---------------------------------->____________________________________] 48.02% 111 p/s2802 / 5789 [---------------------------------->____________________________________] 48.40% 111 p/s2822 / 5789 [---------------------------------->____________________________________] 48.75% 111 p/s2844 / 5789 [---------------------------------->____________________________________] 49.13% 110 p/s2864 / 5789 [----------------------------------->___________________________________] 49.47% 110 p/s2887 / 5789 [----------------------------------->___________________________________] 49.87% 110 p/s2908 / 5789 [----------------------------------->___________________________________] 50.23% 110 p/s2930 / 5789 [----------------------------------->___________________________________] 50.61% 110 p/s2952 / 5789 [------------------------------------>__________________________________] 50.99% 110 p/s2974 / 5789 [------------------------------------>__________________________________] 51.37% 110 p/s2997 / 5789 [------------------------------------>__________________________________] 51.77% 110 p/s3018 / 5789 [------------------------------------->_________________________________] 52.13% 110 p/s3040 / 5789 [------------------------------------->_________________________________] 52.51% 110 p/s3060 / 5789 [------------------------------------->_________________________________] 52.86% 110 p/s3084 / 5789 [------------------------------------->_________________________________] 53.27% 110 p/s3106 / 5789 [-------------------------------------->________________________________] 53.65% 110 p/s3129 / 5789 [-------------------------------------->________________________________] 54.05% 110 p/s3151 / 5789 [-------------------------------------->________________________________] 54.43% 110 p/s3173 / 5789 [-------------------------------------->________________________________] 54.81% 110 p/s3194 / 5789 [--------------------------------------->_______________________________] 55.17% 110 p/s3216 / 5789 [--------------------------------------->_______________________________] 55.55% 110 p/s3236 / 5789 [--------------------------------------->_______________________________] 55.90% 110 p/s3256 / 5789 [--------------------------------------->_______________________________] 56.24% 110 p/s3278 / 5789 [---------------------------------------->______________________________] 56.62% 110 p/s3299 / 5789 [---------------------------------------->______________________________] 56.99% 110 p/s3314 / 5789 [---------------------------------------->______________________________] 57.25% 110 p/s3334 / 5789 [---------------------------------------->______________________________] 57.59% 110 p/s3355 / 5789 [----------------------------------------->_____________________________] 57.95% 109 p/s3377 / 5789 [----------------------------------------->_____________________________] 58.33% 109 p/s3399 / 5789 [----------------------------------------->_____________________________] 58.71% 109 p/s3422 / 5789 [----------------------------------------->_____________________________] 59.11% 109 p/s3442 / 5789 [------------------------------------------>____________________________] 59.46% 109 p/s3464 / 5789 [------------------------------------------>____________________________] 59.84% 109 p/s3486 / 5789 [------------------------------------------>____________________________] 60.22% 109 p/s3508 / 5789 [------------------------------------------->___________________________] 60.60% 109 p/s3529 / 5789 [------------------------------------------->___________________________] 60.96% 109 p/s3549 / 5789 [------------------------------------------->___________________________] 61.31% 108 p/s3571 / 5789 [------------------------------------------->___________________________] 61.69% 108 p/s3591 / 5789 [-------------------------------------------->__________________________] 62.03% 108 p/s3614 / 5789 [-------------------------------------------->__________________________] 62.43% 108 p/s3635 / 5789 [-------------------------------------------->__________________________] 62.79% 108 p/s3658 / 5789 [-------------------------------------------->__________________________] 63.19% 108 p/s3679 / 5789 [--------------------------------------------->_________________________] 63.55% 108 p/s3700 / 5789 [--------------------------------------------->_________________________] 63.91% 108 p/s3720 / 5789 [--------------------------------------------->_________________________] 64.26% 108 p/s3741 / 5789 [--------------------------------------------->_________________________] 64.62% 108 p/s3763 / 5789 [---------------------------------------------->________________________] 65.00% 108 p/s3783 / 5789 [---------------------------------------------->________________________] 65.35% 108 p/s3806 / 5789 [---------------------------------------------->________________________] 65.75% 108 p/s3829 / 5789 [---------------------------------------------->________________________] 66.14% 108 p/s3851 / 5789 [----------------------------------------------->_______________________] 66.52% 108 p/s3873 / 5789 [----------------------------------------------->_______________________] 66.90% 108 p/s3894 / 5789 [----------------------------------------------->_______________________] 67.27% 108 p/s3915 / 5789 [------------------------------------------------>______________________] 67.63% 108 p/s3937 / 5789 [------------------------------------------------>______________________] 68.01% 108 p/s3960 / 5789 [------------------------------------------------>______________________] 68.41% 108 p/s3980 / 5789 [------------------------------------------------>______________________] 68.75% 108 p/s4003 / 5789 [------------------------------------------------->_____________________] 69.15% 108 p/s4023 / 5789 [------------------------------------------------->_____________________] 69.49% 108 p/s4044 / 5789 [------------------------------------------------->_____________________] 69.86% 108 p/s4067 / 5789 [------------------------------------------------->_____________________] 70.25% 108 p/s4088 / 5789 [-------------------------------------------------->____________________] 70.62% 108 p/s4110 / 5789 [-------------------------------------------------->____________________] 71.00% 108 p/s4132 / 5789 [-------------------------------------------------->____________________] 71.38% 108 p/s4154 / 5789 [-------------------------------------------------->____________________] 71.76% 108 p/s4177 / 5789 [--------------------------------------------------->___________________] 72.15% 108 p/s4198 / 5789 [--------------------------------------------------->___________________] 72.52% 108 p/s4220 / 5789 [--------------------------------------------------->___________________] 72.90% 108 p/s4242 / 5789 [---------------------------------------------------->__________________] 73.28% 108 p/s4262 / 5789 [---------------------------------------------------->__________________] 73.62% 108 p/s4284 / 5789 [---------------------------------------------------->__________________] 74.00% 108 p/s4305 / 5789 [---------------------------------------------------->__________________] 74.37% 108 p/s4326 / 5789 [----------------------------------------------------->_________________] 74.73% 108 p/s4348 / 5789 [----------------------------------------------------->_________________] 75.11% 108 p/s4368 / 5789 [----------------------------------------------------->_________________] 75.45% 108 p/s4389 / 5789 [----------------------------------------------------->_________________] 75.82% 108 p/s4409 / 5789 [------------------------------------------------------>________________] 76.16% 108 p/s4430 / 5789 [------------------------------------------------------>________________] 76.52% 108 p/s4452 / 5789 [------------------------------------------------------>________________] 76.90% 108 p/s4473 / 5789 [------------------------------------------------------>________________] 77.27% 108 p/s4495 / 5789 [------------------------------------------------------->_______________] 77.65% 108 p/s4517 / 5789 [------------------------------------------------------->_______________] 78.03% 108 p/s4539 / 5789 [------------------------------------------------------->_______________] 78.41% 108 p/s4560 / 5789 [------------------------------------------------------->_______________] 78.77% 108 p/s4583 / 5789 [-------------------------------------------------------->______________] 79.17% 108 p/s4603 / 5789 [-------------------------------------------------------->______________] 79.51% 108 p/s4625 / 5789 [-------------------------------------------------------->______________] 79.89% 108 p/s4648 / 5789 [--------------------------------------------------------->_____________] 80.29% 108 p/s4669 / 5789 [--------------------------------------------------------->_____________] 80.65% 108 p/s4692 / 5789 [--------------------------------------------------------->_____________] 81.05% 108 p/s4714 / 5789 [--------------------------------------------------------->_____________] 81.43% 108 p/s4734 / 5789 [---------------------------------------------------------->____________] 81.78% 108 p/s4756 / 5789 [---------------------------------------------------------->____________] 82.16% 108 p/s4777 / 5789 [---------------------------------------------------------->____________] 82.52% 108 p/s4800 / 5789 [---------------------------------------------------------->____________] 82.92% 108 p/s4823 / 5789 [----------------------------------------------------------->___________] 83.31% 108 p/s4845 / 5789 [----------------------------------------------------------->___________] 83.69% 108 p/s4868 / 5789 [----------------------------------------------------------->___________] 84.09% 108 p/s4889 / 5789 [----------------------------------------------------------->___________] 84.45% 108 p/s4911 / 5789 [------------------------------------------------------------>__________] 84.83% 108 p/s4933 / 5789 [------------------------------------------------------------>__________] 85.21% 108 p/s4956 / 5789 [------------------------------------------------------------>__________] 85.61% 108 p/s4977 / 5789 [------------------------------------------------------------->_________] 85.97% 108 p/s4998 / 5789 [------------------------------------------------------------->_________] 86.34% 108 p/s5021 / 5789 [------------------------------------------------------------->_________] 86.73% 108 p/s5044 / 5789 [------------------------------------------------------------->_________] 87.13% 109 p/s5064 / 5789 [-------------------------------------------------------------->________] 87.48% 109 p/s5086 / 5789 [-------------------------------------------------------------->________] 87.86% 109 p/s5107 / 5789 [-------------------------------------------------------------->________] 88.22% 108 p/s5127 / 5789 [-------------------------------------------------------------->________] 88.56% 108 p/s5148 / 5789 [--------------------------------------------------------------->_______] 88.93% 108 p/s5171 / 5789 [--------------------------------------------------------------->_______] 89.32% 108 p/s5192 / 5789 [--------------------------------------------------------------->_______] 89.69% 108 p/s5213 / 5789 [--------------------------------------------------------------->_______] 90.05% 108 p/s5235 / 5789 [---------------------------------------------------------------->______] 90.43% 108 p/s5257 / 5789 [---------------------------------------------------------------->______] 90.81% 108 p/s5280 / 5789 [---------------------------------------------------------------->______] 91.21% 108 p/s5302 / 5789 [----------------------------------------------------------------->_____] 91.59% 108 p/s5324 / 5789 [----------------------------------------------------------------->_____] 91.97% 108 p/s5345 / 5789 [----------------------------------------------------------------->_____] 92.33% 108 p/s5367 / 5789 [----------------------------------------------------------------->_____] 92.71% 108 p/s5389 / 5789 [------------------------------------------------------------------>____] 93.09% 108 p/s5409 / 5789 [------------------------------------------------------------------>____] 93.44% 108 p/s5431 / 5789 [------------------------------------------------------------------>____] 93.82% 108 p/s5454 / 5789 [------------------------------------------------------------------>____] 94.21% 108 p/s5474 / 5789 [------------------------------------------------------------------->___] 94.56% 108 p/s5496 / 5789 [------------------------------------------------------------------->___] 94.94% 108 p/s5518 / 5789 [------------------------------------------------------------------->___] 95.32% 108 p/s5540 / 5789 [------------------------------------------------------------------->___] 95.70% 108 p/s5562 / 5789 [-------------------------------------------------------------------->__] 96.08% 108 p/s5584 / 5789 [-------------------------------------------------------------------->__] 96.46% 108 p/s5603 / 5789 [-------------------------------------------------------------------->__] 96.79% 108 p/s5625 / 5789 [-------------------------------------------------------------------->__] 97.17% 108 p/s5646 / 5789 [--------------------------------------------------------------------->_] 97.53% 108 p/s5669 / 5789 [--------------------------------------------------------------------->_] 97.93% 108 p/s5690 / 5789 [--------------------------------------------------------------------->_] 98.29% 108 p/s5712 / 5789 [---------------------------------------------------------------------->] 98.67% 108 p/s5735 / 5789 [---------------------------------------------------------------------->] 99.07% 108 p/s5756 / 5789 [---------------------------------------------------------------------->] 99.43% 108 p/s5779 / 5789 [---------------------------------------------------------------------->] 99.83% 108 p/s5789 / 5789 [----------------------------------------------------------------------] 100.00% 110 p/s2026-03-24T09:00:15 - INFO: Parsing 5789 sonar sweeps from /working/df5cf81d-2415-ac96-13d6-d24e1da5c2fb/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-24T09:03:43 - 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/df5cf81d-2415-ac96-13d6-d24e1da5c2fb/df5cf81d-2415-ac96-13d6-d24e1da5c2fb"
2026-03-24T09:03:44 - INFO: DataPrep 0.14.0rc3
2026-03-24T09:03:44 - INFO: Prepared data will be output to /working/df5cf81d-2415-ac96-13d6-d24e1da5c2fb/df5cf81d-2415-ac96-13d6-d24e1da5c2fb/processing/data
2026-03-24T09:03:44 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-24T09:03:44 - deployment - INFO: Detected P3D version: P3D_1
2026-03-24T09:03:44 - INFO: Recording GUID: df5cf81d-2415-ac96-13d6-d24e1da5c2fb
2026-03-24T09:03:44 - INFO: Preparing sonar data...
2026-03-24T09:03:44 - INFO: /working/df5cf81d-2415-ac96-13d6-d24e1da5c2fb/df5cf81d-2415-ac96-13d6-d24e1da5c2fb/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-24T09:03:49 - INFO: Sonar epoch is 2026-01-12 14:17:13.407005+00:00 (1768227433407004650)
2026-03-24T09:03:49 - INFO: Creating sonar sensor alignment track...
2026-03-24T09:03:49 - INFO: Using sonar rotation of 0.174533 radians for wedge mask
2026-03-24T09:03:49 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-24T09:03:49 - INFO: Sonar range is 0.939120 m
2026-03-24T09:03:49 - INFO: Speed of sound is 1472.424156 m/s
2026-03-24T09:03:49 - INFO: Processing 5789 sweeps...

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2026-03-24T09:04:09 - INFO: Prepared sonar data in 25.2410 s
2026-03-24T09:04:09 - INFO: No IMU data found
2026-03-24T09:04:10 - INFO: DataPrep took 0:00:26.037035
2026-03-24T09:04:10 - INFO: Extracted sonar data in 0:04:47.884261
2026-03-24T09:04:11 - INFO: MSIP3D took 0:04:48.514793