2026-03-26T01:51:24 - INFO: MSIP3D 0.2.0rc3
2026-03-26T01:51:24 - INFO: P3D files will be output to /working/bc817373-2cce-fd20-208b-3a8b22a55a39/bc817373-2cce-fd20-208b-3a8b22a55a39
2026-03-26T01:51:24 - INFO: Found 11 TFD dictionary entries
2026-03-26T01:51:24 - INFO: Found TFD mission for SJ502828 DEP 515
2026-03-26T01:51:24 - INFO: Recording will be processed as SMD
2026-03-26T01:51:24 - INFO: Copying assets JSON to output directory...
2026-03-26T01:51:24 - INFO: Preparing counter data...
2026-03-26T01:51:24 - INFO: Interpreting counter as imperial
2026-03-26T01:51:24 - INFO: Preparing size track from assets JSON...
2026-03-26T01:51:24 - INFO: Preparing shape track from assets JSON...
2026-03-26T01:51:24 - INFO: Preparing material track from assets JSON...
2026-03-26T01:51:24 - INFO: Prepared counter data in 0.2555 s
2026-03-26T01:51:24 - INFO: Extracting sonar data...
TFD path: /working/bc817373-2cce-fd20-208b-3a8b22a55a39/tfd/SJ502828_DEP_515.tfd
TFD path: /working/bc817373-2cce-fd20-208b-3a8b22a55a39/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855221467469924931
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: CCTV, Tag: 4855215978501720643
Name: LASER, Tag: 4855215978501720652
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079244958847671
Getting track SONAR
Number of frames: 4963
19 / 4963 [>___________________________________________________________________________] 0.38% ? p/s38 / 4963 [>___________________________________________________________________________] 0.77% ? p/s57 / 4963 [>___________________________________________________________________________] 1.15% ? p/s76 / 4963 [->_________________________________________________________________________] 1.53% 95 p/s96 / 4963 [->_________________________________________________________________________] 1.93% 95 p/s116 / 4963 [->________________________________________________________________________] 2.34% 95 p/s135 / 4963 [-->_______________________________________________________________________] 2.72% 95 p/s155 / 4963 [-->_______________________________________________________________________] 3.12% 95 p/s174 / 4963 [-->_______________________________________________________________________] 3.51% 95 p/s194 / 4963 [-->_______________________________________________________________________] 3.91% 95 p/s214 / 4963 [--->______________________________________________________________________] 4.31% 95 p/s234 / 4963 [--->______________________________________________________________________] 4.71% 95 p/s253 / 4963 [--->______________________________________________________________________] 5.10% 96 p/s273 / 4963 [---->_____________________________________________________________________] 5.50% 96 p/s293 / 4963 [---->_____________________________________________________________________] 5.90% 96 p/s312 / 4963 [---->_____________________________________________________________________] 6.29% 96 p/s331 / 4963 [---->_____________________________________________________________________] 6.67% 96 p/s351 / 4963 [----->____________________________________________________________________] 7.07% 96 p/s371 / 4963 [----->____________________________________________________________________] 7.48% 96 p/s391 / 4963 [----->____________________________________________________________________] 7.88% 96 p/s410 / 4963 [------>___________________________________________________________________] 8.26% 96 p/s429 / 4963 [------>___________________________________________________________________] 8.64% 96 p/s449 / 4963 [------>___________________________________________________________________] 9.05% 96 p/s468 / 4963 [------>___________________________________________________________________] 9.43% 96 p/s488 / 4963 [------->__________________________________________________________________] 9.83% 96 p/s507 / 4963 [------->_________________________________________________________________] 10.22% 96 p/s527 / 4963 [------->_________________________________________________________________] 10.62% 96 p/s547 / 4963 [-------->________________________________________________________________] 11.02% 96 p/s566 / 4963 [-------->________________________________________________________________] 11.40% 96 p/s586 / 4963 [-------->________________________________________________________________] 11.81% 96 p/s606 / 4963 [-------->________________________________________________________________] 12.21% 96 p/s626 / 4963 [--------->_______________________________________________________________] 12.61% 96 p/s646 / 4963 [--------->_______________________________________________________________] 13.02% 96 p/s665 / 4963 [--------->_______________________________________________________________] 13.40% 97 p/s685 / 4963 [---------->______________________________________________________________] 13.80% 97 p/s705 / 4963 [---------->______________________________________________________________] 14.21% 97 p/s725 / 4963 [---------->______________________________________________________________] 14.61% 97 p/s744 / 4963 [---------->______________________________________________________________] 14.99% 97 p/s764 / 4963 [----------->_____________________________________________________________] 15.39% 97 p/s784 / 4963 [----------->_____________________________________________________________] 15.80% 97 p/s804 / 4963 [----------->_____________________________________________________________] 16.20% 97 p/s823 / 4963 [------------>____________________________________________________________] 16.58% 97 p/s843 / 4963 [------------>____________________________________________________________] 16.99% 97 p/s863 / 4963 [------------>____________________________________________________________] 17.39% 97 p/s883 / 4963 [------------>____________________________________________________________] 17.79% 97 p/s902 / 4963 [------------->___________________________________________________________] 18.17% 97 p/s922 / 4963 [------------->___________________________________________________________] 18.58% 97 p/s941 / 4963 [------------->___________________________________________________________] 18.96% 97 p/s961 / 4963 [-------------->__________________________________________________________] 19.36% 97 p/s981 / 4963 [-------------->__________________________________________________________] 19.77% 97 p/s1000 / 4963 [-------------->_________________________________________________________] 20.15% 97 p/s1019 / 4963 [-------------->_________________________________________________________] 20.53% 97 p/s1039 / 4963 [--------------->________________________________________________________] 20.93% 97 p/s1058 / 4963 [--------------->________________________________________________________] 21.32% 97 p/s1078 / 4963 [--------------->________________________________________________________] 21.72% 97 p/s1098 / 4963 [--------------->________________________________________________________] 22.12% 97 p/s1118 / 4963 [---------------->_______________________________________________________] 22.53% 97 p/s1137 / 4963 [---------------->_______________________________________________________] 22.91% 97 p/s1157 / 4963 [---------------->_______________________________________________________] 23.31% 97 p/s1177 / 4963 [----------------->______________________________________________________] 23.72% 97 p/s1197 / 4963 [----------------->______________________________________________________] 24.12% 97 p/s1217 / 4963 [----------------->______________________________________________________] 24.52% 97 p/s1236 / 4963 [----------------->______________________________________________________] 24.90% 97 p/s1256 / 4963 [------------------>_____________________________________________________] 25.31% 97 p/s1276 / 4963 [------------------>_____________________________________________________] 25.71% 97 p/s1295 / 4963 [------------------>_____________________________________________________] 26.09% 97 p/s1315 / 4963 [------------------->____________________________________________________] 26.50% 98 p/s1335 / 4963 [------------------->____________________________________________________] 26.90% 98 p/s1354 / 4963 [------------------->____________________________________________________] 27.28% 98 p/s1374 / 4963 [------------------->____________________________________________________] 27.68% 98 p/s1394 / 4963 [-------------------->___________________________________________________] 28.09% 98 p/s1413 / 4963 [-------------------->___________________________________________________] 28.47% 98 p/s1433 / 4963 [-------------------->___________________________________________________] 28.87% 98 p/s1453 / 4963 [--------------------->__________________________________________________] 29.28% 98 p/s1473 / 4963 [--------------------->__________________________________________________] 29.68% 98 p/s1492 / 4963 [--------------------->__________________________________________________] 30.06% 98 p/s1512 / 4963 [--------------------->__________________________________________________] 30.47% 98 p/s1532 / 4963 [---------------------->_________________________________________________] 30.87% 98 p/s1551 / 4963 [---------------------->_________________________________________________] 31.25% 98 p/s1571 / 4963 [---------------------->_________________________________________________] 31.65% 98 p/s1591 / 4963 [----------------------->________________________________________________] 32.06% 98 p/s1610 / 4963 [----------------------->________________________________________________] 32.44% 98 p/s1630 / 4963 [----------------------->________________________________________________] 32.84% 98 p/s1650 / 4963 [----------------------->________________________________________________] 33.25% 98 p/s1669 / 4963 [------------------------>_______________________________________________] 33.63% 98 p/s1689 / 4963 [------------------------>_______________________________________________] 34.03% 98 p/s1709 / 4963 [------------------------>_______________________________________________] 34.43% 98 p/s1728 / 4963 [------------------------->______________________________________________] 34.82% 98 p/s1748 / 4963 [------------------------->______________________________________________] 35.22% 98 p/s1768 / 4963 [------------------------->______________________________________________] 35.62% 98 p/s1788 / 4963 [------------------------->______________________________________________] 36.03% 98 p/s1807 / 4963 [-------------------------->_____________________________________________] 36.41% 98 p/s1827 / 4963 [-------------------------->_____________________________________________] 36.81% 98 p/s1847 / 4963 [-------------------------->_____________________________________________] 37.22% 98 p/s1866 / 4963 [--------------------------->____________________________________________] 37.60% 98 p/s1886 / 4963 [--------------------------->____________________________________________] 38.00% 98 p/s1906 / 4963 [--------------------------->____________________________________________] 38.40% 98 p/s1925 / 4963 [--------------------------->____________________________________________] 38.79% 98 p/s1945 / 4963 [---------------------------->___________________________________________] 39.19% 98 p/s1965 / 4963 [---------------------------->___________________________________________] 39.59% 98 p/s1985 / 4963 [---------------------------->___________________________________________] 40.00% 98 p/s2004 / 4963 [----------------------------->__________________________________________] 40.38% 98 p/s2024 / 4963 [----------------------------->__________________________________________] 40.78% 98 p/s2042 / 4963 [----------------------------->__________________________________________] 41.14% 98 p/s2062 / 4963 [----------------------------->__________________________________________] 41.55% 98 p/s2082 / 4963 [------------------------------>_________________________________________] 41.95% 98 p/s2102 / 4963 [------------------------------>_________________________________________] 42.35% 98 p/s2121 / 4963 [------------------------------>_________________________________________] 42.74% 98 p/s2141 / 4963 [------------------------------->________________________________________] 43.14% 98 p/s2160 / 4963 [------------------------------->________________________________________] 43.52% 98 p/s2180 / 4963 [------------------------------->________________________________________] 43.93% 98 p/s2200 / 4963 [------------------------------->________________________________________] 44.33% 98 p/s2220 / 4963 [-------------------------------->_______________________________________] 44.73% 98 p/s2240 / 4963 [-------------------------------->_______________________________________] 45.13% 98 p/s2260 / 4963 [-------------------------------->_______________________________________] 45.54% 98 p/s2279 / 4963 [--------------------------------->______________________________________] 45.92% 98 p/s2299 / 4963 [--------------------------------->______________________________________] 46.32% 98 p/s2319 / 4963 [--------------------------------->______________________________________] 46.73% 98 p/s2339 / 4963 [--------------------------------->______________________________________] 47.13% 98 p/s2359 / 4963 [---------------------------------->_____________________________________] 47.53% 98 p/s2379 / 4963 [---------------------------------->_____________________________________] 47.93% 98 p/s2398 / 4963 [---------------------------------->_____________________________________] 48.32% 98 p/s2418 / 4963 [----------------------------------->____________________________________] 48.72% 98 p/s2438 / 4963 [----------------------------------->____________________________________] 49.12% 98 p/s2458 / 4963 [----------------------------------->____________________________________] 49.53% 98 p/s2477 / 4963 [----------------------------------->____________________________________] 49.91% 98 p/s2497 / 4963 [------------------------------------>___________________________________] 50.31% 98 p/s2517 / 4963 [------------------------------------>___________________________________] 50.72% 98 p/s2536 / 4963 [------------------------------------>___________________________________] 51.10% 98 p/s2556 / 4963 [------------------------------------->__________________________________] 51.50% 98 p/s2575 / 4963 [------------------------------------->__________________________________] 51.88% 98 p/s2595 / 4963 [------------------------------------->__________________________________] 52.29% 98 p/s2615 / 4963 [------------------------------------->__________________________________] 52.69% 98 p/s2635 / 4963 [-------------------------------------->_________________________________] 53.09% 98 p/s2654 / 4963 [-------------------------------------->_________________________________] 53.48% 98 p/s2674 / 4963 [-------------------------------------->_________________________________] 53.88% 98 p/s2693 / 4963 [--------------------------------------->________________________________] 54.26% 98 p/s2713 / 4963 [--------------------------------------->________________________________] 54.66% 98 p/s2732 / 4963 [--------------------------------------->________________________________] 55.05% 98 p/s2752 / 4963 [--------------------------------------->________________________________] 55.45% 98 p/s2772 / 4963 [---------------------------------------->_______________________________] 55.85% 98 p/s2791 / 4963 [---------------------------------------->_______________________________] 56.24% 98 p/s2810 / 4963 [---------------------------------------->_______________________________] 56.62% 98 p/s2830 / 4963 [----------------------------------------->______________________________] 57.02% 98 p/s2850 / 4963 [----------------------------------------->______________________________] 57.42% 98 p/s2869 / 4963 [----------------------------------------->______________________________] 57.81% 98 p/s2889 / 4963 [----------------------------------------->______________________________] 58.21% 98 p/s2908 / 4963 [------------------------------------------>_____________________________] 58.59% 98 p/s2928 / 4963 [------------------------------------------>_____________________________] 59.00% 98 p/s2948 / 4963 [------------------------------------------>_____________________________] 59.40% 98 p/s2967 / 4963 [------------------------------------------->____________________________] 59.78% 98 p/s2987 / 4963 [------------------------------------------->____________________________] 60.19% 98 p/s3007 / 4963 [------------------------------------------->____________________________] 60.59% 98 p/s3027 / 4963 [------------------------------------------->____________________________] 60.99% 98 p/s3047 / 4963 [-------------------------------------------->___________________________] 61.39% 98 p/s3066 / 4963 [-------------------------------------------->___________________________] 61.78% 98 p/s3086 / 4963 [-------------------------------------------->___________________________] 62.18% 98 p/s3106 / 4963 [--------------------------------------------->__________________________] 62.58% 98 p/s3125 / 4963 [--------------------------------------------->__________________________] 62.97% 98 p/s3145 / 4963 [--------------------------------------------->__________________________] 63.37% 98 p/s3165 / 4963 [--------------------------------------------->__________________________] 63.77% 98 p/s3185 / 4963 [---------------------------------------------->_________________________] 64.17% 98 p/s3204 / 4963 [---------------------------------------------->_________________________] 64.56% 98 p/s3224 / 4963 [---------------------------------------------->_________________________] 64.96% 98 p/s3244 / 4963 [----------------------------------------------->________________________] 65.36% 98 p/s3262 / 4963 [----------------------------------------------->________________________] 65.73% 98 p/s3282 / 4963 [----------------------------------------------->________________________] 66.13% 98 p/s3301 / 4963 [----------------------------------------------->________________________] 66.51% 98 p/s3321 / 4963 [------------------------------------------------>_______________________] 66.92% 98 p/s3341 / 4963 [------------------------------------------------>_______________________] 67.32% 98 p/s3361 / 4963 [------------------------------------------------>_______________________] 67.72% 98 p/s3380 / 4963 [------------------------------------------------->______________________] 68.10% 98 p/s3400 / 4963 [------------------------------------------------->______________________] 68.51% 98 p/s3419 / 4963 [------------------------------------------------->______________________] 68.89% 98 p/s3439 / 4963 [------------------------------------------------->______________________] 69.29% 98 p/s3459 / 4963 [-------------------------------------------------->_____________________] 69.70% 98 p/s3478 / 4963 [-------------------------------------------------->_____________________] 70.08% 98 p/s3498 / 4963 [-------------------------------------------------->_____________________] 70.48% 98 p/s3517 / 4963 [--------------------------------------------------->____________________] 70.86% 98 p/s3537 / 4963 [--------------------------------------------------->____________________] 71.27% 98 p/s3557 / 4963 [--------------------------------------------------->____________________] 71.67% 98 p/s3576 / 4963 [--------------------------------------------------->____________________] 72.05% 98 p/s3596 / 4963 [---------------------------------------------------->___________________] 72.46% 98 p/s3616 / 4963 [---------------------------------------------------->___________________] 72.86% 98 p/s3635 / 4963 [---------------------------------------------------->___________________] 73.24% 98 p/s3655 / 4963 [----------------------------------------------------->__________________] 73.64% 98 p/s3675 / 4963 [----------------------------------------------------->__________________] 74.05% 98 p/s3694 / 4963 [----------------------------------------------------->__________________] 74.43% 98 p/s3714 / 4963 [----------------------------------------------------->__________________] 74.83% 98 p/s3734 / 4963 [------------------------------------------------------>_________________] 75.24% 98 p/s3753 / 4963 [------------------------------------------------------>_________________] 75.62% 98 p/s3773 / 4963 [------------------------------------------------------>_________________] 76.02% 98 p/s3793 / 4963 [------------------------------------------------------->________________] 76.43% 98 p/s3813 / 4963 [------------------------------------------------------->________________] 76.83% 98 p/s3832 / 4963 [------------------------------------------------------->________________] 77.21% 98 p/s3852 / 4963 [------------------------------------------------------->________________] 77.61% 98 p/s3872 / 4963 [-------------------------------------------------------->_______________] 78.02% 98 p/s3891 / 4963 [-------------------------------------------------------->_______________] 78.40% 98 p/s3911 / 4963 [-------------------------------------------------------->_______________] 78.80% 98 p/s3931 / 4963 [--------------------------------------------------------->______________] 79.21% 98 p/s3951 / 4963 [--------------------------------------------------------->______________] 79.61% 98 p/s3970 / 4963 [--------------------------------------------------------->______________] 79.99% 98 p/s3990 / 4963 [--------------------------------------------------------->______________] 80.39% 98 p/s4008 / 4963 [---------------------------------------------------------->_____________] 80.76% 98 p/s4028 / 4963 [---------------------------------------------------------->_____________] 81.16% 98 p/s4046 / 4963 [---------------------------------------------------------->_____________] 81.52% 98 p/s4066 / 4963 [---------------------------------------------------------->_____________] 81.93% 98 p/s4085 / 4963 [----------------------------------------------------------->____________] 82.31% 98 p/s4104 / 4963 [----------------------------------------------------------->____________] 82.69% 98 p/s4124 / 4963 [----------------------------------------------------------->____________] 83.09% 98 p/s4143 / 4963 [------------------------------------------------------------>___________] 83.48% 98 p/s4163 / 4963 [------------------------------------------------------------>___________] 83.88% 98 p/s4183 / 4963 [------------------------------------------------------------>___________] 84.28% 98 p/s4203 / 4963 [------------------------------------------------------------>___________] 84.69% 98 p/s4222 / 4963 [------------------------------------------------------------->__________] 85.07% 98 p/s4242 / 4963 [------------------------------------------------------------->__________] 85.47% 98 p/s4261 / 4963 [------------------------------------------------------------->__________] 85.86% 98 p/s4281 / 4963 [-------------------------------------------------------------->_________] 86.26% 98 p/s4301 / 4963 [-------------------------------------------------------------->_________] 86.66% 98 p/s4320 / 4963 [-------------------------------------------------------------->_________] 87.04% 98 p/s4340 / 4963 [-------------------------------------------------------------->_________] 87.45% 98 p/s4360 / 4963 [--------------------------------------------------------------->________] 87.85% 98 p/s4379 / 4963 [--------------------------------------------------------------->________] 88.23% 98 p/s4399 / 4963 [--------------------------------------------------------------->________] 88.64% 98 p/s4419 / 4963 [---------------------------------------------------------------->_______] 89.04% 98 p/s4438 / 4963 [---------------------------------------------------------------->_______] 89.42% 98 p/s4458 / 4963 [---------------------------------------------------------------->_______] 89.82% 98 p/s4477 / 4963 [---------------------------------------------------------------->_______] 90.21% 98 p/s4497 / 4963 [----------------------------------------------------------------->______] 90.61% 98 p/s4517 / 4963 [----------------------------------------------------------------->______] 91.01% 98 p/s4537 / 4963 [----------------------------------------------------------------->______] 91.42% 98 p/s4556 / 4963 [------------------------------------------------------------------>_____] 91.80% 98 p/s4576 / 4963 [------------------------------------------------------------------>_____] 92.20% 98 p/s4596 / 4963 [------------------------------------------------------------------>_____] 92.61% 98 p/s4616 / 4963 [------------------------------------------------------------------>_____] 93.01% 98 p/s4635 / 4963 [------------------------------------------------------------------->____] 93.39% 98 p/s4654 / 4963 [------------------------------------------------------------------->____] 93.77% 98 p/s4674 / 4963 [------------------------------------------------------------------->____] 94.18% 98 p/s4693 / 4963 [-------------------------------------------------------------------->___] 94.56% 98 p/s4712 / 4963 [-------------------------------------------------------------------->___] 94.94% 98 p/s4732 / 4963 [-------------------------------------------------------------------->___] 95.35% 98 p/s4752 / 4963 [-------------------------------------------------------------------->___] 95.75% 98 p/s4771 / 4963 [--------------------------------------------------------------------->__] 96.13% 98 p/s4791 / 4963 [--------------------------------------------------------------------->__] 96.53% 98 p/s4811 / 4963 [--------------------------------------------------------------------->__] 96.94% 98 p/s4831 / 4963 [---------------------------------------------------------------------->_] 97.34% 98 p/s4850 / 4963 [---------------------------------------------------------------------->_] 97.72% 98 p/s4870 / 4963 [---------------------------------------------------------------------->_] 98.13% 98 p/s4890 / 4963 [---------------------------------------------------------------------->_] 98.53% 98 p/s4910 / 4963 [----------------------------------------------------------------------->] 98.93% 98 p/s4929 / 4963 [----------------------------------------------------------------------->] 99.31% 98 p/s4949 / 4963 [----------------------------------------------------------------------->] 99.72% 98 p/s4963 / 4963 [-----------------------------------------------------------------------] 100.00% 99 p/s2026-03-26T01:52:15 - INFO: Parsing 4963 sonar sweeps from /working/bc817373-2cce-fd20-208b-3a8b22a55a39/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-26T01:55:32 - 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 /working/bc817373-2cce-fd20-208b-3a8b22a55a39/bc817373-2cce-fd20-208b-3a8b22a55a39"
2026-03-26T01:55:33 - INFO: DataPrep 0.14.0rc3
2026-03-26T01:55:33 - INFO: Prepared data will be output to /working/bc817373-2cce-fd20-208b-3a8b22a55a39/bc817373-2cce-fd20-208b-3a8b22a55a39/processing/data
2026-03-26T01:55:33 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-26T01:55:33 - deployment - INFO: Detected P3D version: P3D_1
2026-03-26T01:55:33 - INFO: Recording GUID: bc817373-2cce-fd20-208b-3a8b22a55a39
2026-03-26T01:55:33 - INFO: Preparing sonar data...
2026-03-26T01:55:33 - INFO: /working/bc817373-2cce-fd20-208b-3a8b22a55a39/bc817373-2cce-fd20-208b-3a8b22a55a39/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-26T01:55:38 - INFO: Sonar epoch is 2026-02-18 14:18:25.251259+00:00 (1771424305251259000)
2026-03-26T01:55:38 - INFO: Creating sonar sensor alignment track...
2026-03-26T01:55:38 - INFO: Using sonar rotation of -0.052360 radians for wedge mask
2026-03-26T01:55:38 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-26T01:55:38 - INFO: Sonar range is 1.589280 m
2026-03-26T01:55:38 - INFO: Speed of sound is 1472.424156 m/s
2026-03-26T01:55:38 - INFO: Processing 4963 sweeps...

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2026-03-26T01:55:58 - INFO: Prepared sonar data in 24.5273 s
2026-03-26T01:55:58 - INFO: No IMU data found
2026-03-26T01:55:59 - INFO: DataPrep took 0:00:25.306747
2026-03-26T01:55:59 - INFO: Extracted sonar data in 0:04:34.437690
2026-03-26T01:55:59 - INFO: MSIP3D took 0:04:35.136736