2026-03-30T18:58:39 - INFO: MSIP3D 0.2.0rc5
2026-03-30T18:58:39 - INFO: P3D files will be output to /working/df5cf81d-2415-ac96-13d6-d24e1da5c2fb/df5cf81d-2415-ac96-13d6-d24e1da5c2fb
2026-03-30T18:58:39 - INFO: Found 10 TFD dictionary entries
2026-03-30T18:58:40 - INFO: Found TFD mission for SJ502795 Dep 11
2026-03-30T18:58:40 - INFO: Recording will be processed as MD
2026-03-30T18:58:40 - INFO: Copying assets JSON to output directory...
2026-03-30T18:58:40 - INFO: Preparing counter data...
2026-03-30T18:58:40 - INFO: Interpreting counter as imperial
2026-03-30T18:58:40 - INFO: Preparing size track from assets JSON...
2026-03-30T18:58:40 - INFO: Preparing shape track from assets JSON...
2026-03-30T18:58:40 - INFO: Preparing material track from assets JSON...
2026-03-30T18:58:40 - INFO: Prepared counter data in 0.1220 s
2026-03-30T18:58:40 - 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: CCTV, Tag: 4855221467469924931
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855221467469924940
Name: MISSION_FILE, Tag: 5073671569755687501
Getting track SONAR
Number of frames: 5789
21 / 5789 [>___________________________________________________________________________] 0.36% ? p/s43 / 5789 [>___________________________________________________________________________] 0.74% ? p/s65 / 5789 [>___________________________________________________________________________] 1.12% ? p/s86 / 5789 [->________________________________________________________________________] 1.49% 108 p/s109 / 5789 [->_______________________________________________________________________] 1.88% 108 p/s130 / 5789 [->_______________________________________________________________________] 2.25% 108 p/s153 / 5789 [->_______________________________________________________________________] 2.64% 108 p/s176 / 5789 [-->______________________________________________________________________] 3.04% 108 p/s198 / 5789 [-->______________________________________________________________________] 3.42% 108 p/s221 / 5789 [-->______________________________________________________________________] 3.82% 109 p/s244 / 5789 [--->_____________________________________________________________________] 4.21% 109 p/s266 / 5789 [--->_____________________________________________________________________] 4.59% 109 p/s289 / 5789 [--->_____________________________________________________________________] 4.99% 109 p/s312 / 5789 [--->_____________________________________________________________________] 5.39% 109 p/s335 / 5789 [---->____________________________________________________________________] 5.79% 109 p/s358 / 5789 [---->____________________________________________________________________] 6.18% 109 p/s381 / 5789 [---->____________________________________________________________________] 6.58% 109 p/s403 / 5789 [----->___________________________________________________________________] 6.96% 109 p/s426 / 5789 [----->___________________________________________________________________] 7.36% 110 p/s449 / 5789 [----->___________________________________________________________________] 7.76% 110 p/s472 / 5789 [----->___________________________________________________________________] 8.15% 110 p/s495 / 5789 [------>__________________________________________________________________] 8.55% 110 p/s517 / 5789 [------>__________________________________________________________________] 8.93% 110 p/s539 / 5789 [------>__________________________________________________________________] 9.31% 110 p/s560 / 5789 [------->_________________________________________________________________] 9.67% 110 p/s583 / 5789 [------->________________________________________________________________] 10.07% 110 p/s605 / 5789 [------->________________________________________________________________] 10.45% 110 p/s628 / 5789 [------->________________________________________________________________] 10.85% 110 p/s651 / 5789 [-------->_______________________________________________________________] 11.25% 110 p/s674 / 5789 [-------->_______________________________________________________________] 11.64% 110 p/s697 / 5789 [-------->_______________________________________________________________] 12.04% 110 p/s720 / 5789 [-------->_______________________________________________________________] 12.44% 110 p/s735 / 5789 [--------->______________________________________________________________] 12.70% 108 p/s740 / 5789 [--------->______________________________________________________________] 12.78% 108 p/s763 / 5789 [--------->______________________________________________________________] 13.18% 108 p/s786 / 5789 [--------->______________________________________________________________] 13.58% 108 p/s809 / 5789 [---------->_____________________________________________________________] 13.97% 108 p/s832 / 5789 [---------->_____________________________________________________________] 14.37% 108 p/s855 / 5789 [---------->_____________________________________________________________] 14.77% 108 p/s877 / 5789 [---------->_____________________________________________________________] 15.15% 109 p/s900 / 5789 [----------->____________________________________________________________] 15.55% 109 p/s923 / 5789 [----------->____________________________________________________________] 15.94% 109 p/s946 / 5789 [----------->____________________________________________________________] 16.34% 109 p/s968 / 5789 [------------>___________________________________________________________] 16.72% 109 p/s991 / 5789 [------------>___________________________________________________________] 17.12% 109 p/s1014 / 5789 [------------>__________________________________________________________] 17.52% 109 p/s1036 / 5789 [------------>__________________________________________________________] 17.90% 109 p/s1059 / 5789 [------------>__________________________________________________________] 18.29% 109 p/s1082 / 5789 [------------->_________________________________________________________] 18.69% 109 p/s1105 / 5789 [------------->_________________________________________________________] 19.09% 109 p/s1128 / 5789 [------------->_________________________________________________________] 19.49% 109 p/s1151 / 5789 [-------------->________________________________________________________] 19.88% 110 p/s1173 / 5789 [-------------->________________________________________________________] 20.26% 110 p/s1196 / 5789 [-------------->________________________________________________________] 20.66% 110 p/s1219 / 5789 [-------------->________________________________________________________] 21.06% 110 p/s1241 / 5789 [--------------->_______________________________________________________] 21.44% 110 p/s1263 / 5789 [--------------->_______________________________________________________] 21.82% 110 p/s1286 / 5789 [--------------->_______________________________________________________] 22.21% 110 p/s1308 / 5789 [---------------->______________________________________________________] 22.59% 110 p/s1317 / 5789 [---------------->______________________________________________________] 22.75% 110 p/s1340 / 5789 [---------------->______________________________________________________] 23.15% 109 p/s1363 / 5789 [---------------->______________________________________________________] 23.54% 109 p/s1385 / 5789 [---------------->______________________________________________________] 23.92% 109 p/s1408 / 5789 [----------------->_____________________________________________________] 24.32% 109 p/s1431 / 5789 [----------------->_____________________________________________________] 24.72% 109 p/s1453 / 5789 [----------------->_____________________________________________________] 25.10% 109 p/s1476 / 5789 [------------------>____________________________________________________] 25.50% 109 p/s1499 / 5789 [------------------>____________________________________________________] 25.89% 109 p/s1522 / 5789 [------------------>____________________________________________________] 26.29% 109 p/s1545 / 5789 [------------------>____________________________________________________] 26.69% 110 p/s1568 / 5789 [------------------->___________________________________________________] 27.09% 110 p/s1591 / 5789 [------------------->___________________________________________________] 27.48% 110 p/s1613 / 5789 [------------------->___________________________________________________] 27.86% 110 p/s1636 / 5789 [-------------------->__________________________________________________] 28.26% 110 p/s1659 / 5789 [-------------------->__________________________________________________] 28.66% 110 p/s1682 / 5789 [-------------------->__________________________________________________] 29.06% 110 p/s1705 / 5789 [-------------------->__________________________________________________] 29.45% 110 p/s1728 / 5789 [--------------------->_________________________________________________] 29.85% 110 p/s1750 / 5789 [--------------------->_________________________________________________] 30.23% 111 p/s1773 / 5789 [--------------------->_________________________________________________] 30.63% 111 p/s1795 / 5789 [---------------------->________________________________________________] 31.01% 111 p/s1818 / 5789 [---------------------->________________________________________________] 31.40% 111 p/s1841 / 5789 [---------------------->________________________________________________] 31.80% 111 p/s1863 / 5789 [---------------------->________________________________________________] 32.18% 111 p/s1883 / 5789 [----------------------->_______________________________________________] 32.53% 111 p/s1906 / 5789 [----------------------->_______________________________________________] 32.92% 111 p/s1928 / 5789 [----------------------->_______________________________________________] 33.30% 111 p/s1950 / 5789 [----------------------->_______________________________________________] 33.68% 111 p/s1973 / 5789 [------------------------>______________________________________________] 34.08% 111 p/s1995 / 5789 [------------------------>______________________________________________] 34.46% 111 p/s2018 / 5789 [------------------------>______________________________________________] 34.86% 111 p/s2040 / 5789 [------------------------->_____________________________________________] 35.24% 111 p/s2062 / 5789 [------------------------->_____________________________________________] 35.62% 111 p/s2084 / 5789 [------------------------->_____________________________________________] 36.00% 111 p/s2107 / 5789 [------------------------->_____________________________________________] 36.40% 111 p/s2129 / 5789 [-------------------------->____________________________________________] 36.78% 111 p/s2152 / 5789 [-------------------------->____________________________________________] 37.17% 111 p/s2174 / 5789 [-------------------------->____________________________________________] 37.55% 111 p/s2196 / 5789 [-------------------------->____________________________________________] 37.93% 111 p/s2218 / 5789 [--------------------------->___________________________________________] 38.31% 111 p/s2241 / 5789 [--------------------------->___________________________________________] 38.71% 111 p/s2263 / 5789 [--------------------------->___________________________________________] 39.09% 111 p/s2286 / 5789 [---------------------------->__________________________________________] 39.49% 111 p/s2308 / 5789 [---------------------------->__________________________________________] 39.87% 111 p/s2331 / 5789 [---------------------------->__________________________________________] 40.27% 111 p/s2354 / 5789 [---------------------------->__________________________________________] 40.66% 111 p/s2376 / 5789 [----------------------------->_________________________________________] 41.04% 111 p/s2399 / 5789 [----------------------------->_________________________________________] 41.44% 111 p/s2421 / 5789 [----------------------------->_________________________________________] 41.82% 111 p/s2443 / 5789 [----------------------------->_________________________________________] 42.20% 111 p/s2463 / 5789 [------------------------------>________________________________________] 42.55% 111 p/s2485 / 5789 [------------------------------>________________________________________] 42.93% 111 p/s2508 / 5789 [------------------------------>________________________________________] 43.32% 111 p/s2530 / 5789 [------------------------------->_______________________________________] 43.70% 111 p/s2553 / 5789 [------------------------------->_______________________________________] 44.10% 111 p/s2575 / 5789 [------------------------------->_______________________________________] 44.48% 111 p/s2598 / 5789 [------------------------------->_______________________________________] 44.88% 111 p/s2620 / 5789 [-------------------------------->______________________________________] 45.26% 111 p/s2642 / 5789 [-------------------------------->______________________________________] 45.64% 111 p/s2665 / 5789 [-------------------------------->______________________________________] 46.04% 111 p/s2688 / 5789 [-------------------------------->______________________________________] 46.43% 111 p/s2710 / 5789 [--------------------------------->_____________________________________] 46.81% 111 p/s2733 / 5789 [--------------------------------->_____________________________________] 47.21% 111 p/s2755 / 5789 [--------------------------------->_____________________________________] 47.59% 111 p/s2777 / 5789 [---------------------------------->____________________________________] 47.97% 111 p/s2798 / 5789 [---------------------------------->____________________________________] 48.33% 111 p/s2820 / 5789 [---------------------------------->____________________________________] 48.71% 111 p/s2842 / 5789 [---------------------------------->____________________________________] 49.09% 111 p/s2865 / 5789 [----------------------------------->___________________________________] 49.49% 111 p/s2888 / 5789 [----------------------------------->___________________________________] 49.89% 111 p/s2911 / 5789 [----------------------------------->___________________________________] 50.29% 111 p/s2934 / 5789 [----------------------------------->___________________________________] 50.68% 111 p/s2957 / 5789 [------------------------------------>__________________________________] 51.08% 111 p/s2980 / 5789 [------------------------------------>__________________________________] 51.48% 111 p/s3003 / 5789 [------------------------------------>__________________________________] 51.87% 111 p/s3026 / 5789 [------------------------------------->_________________________________] 52.27% 112 p/s3049 / 5789 [------------------------------------->_________________________________] 52.67% 112 p/s3072 / 5789 [------------------------------------->_________________________________] 53.07% 112 p/s3095 / 5789 [------------------------------------->_________________________________] 53.46% 112 p/s3118 / 5789 [-------------------------------------->________________________________] 53.86% 112 p/s3141 / 5789 [-------------------------------------->________________________________] 54.26% 112 p/s3163 / 5789 [-------------------------------------->________________________________] 54.64% 112 p/s3186 / 5789 [--------------------------------------->_______________________________] 55.04% 112 p/s3209 / 5789 [--------------------------------------->_______________________________] 55.43% 112 p/s3232 / 5789 [--------------------------------------->_______________________________] 55.83% 112 p/s3255 / 5789 [--------------------------------------->_______________________________] 56.23% 112 p/s3278 / 5789 [---------------------------------------->______________________________] 56.62% 112 p/s3301 / 5789 [---------------------------------------->______________________________] 57.02% 112 p/s3323 / 5789 [---------------------------------------->______________________________] 57.40% 112 p/s3346 / 5789 [----------------------------------------->_____________________________] 57.80% 112 p/s3368 / 5789 [----------------------------------------->_____________________________] 58.18% 112 p/s3391 / 5789 [----------------------------------------->_____________________________] 58.58% 112 p/s3414 / 5789 [----------------------------------------->_____________________________] 58.97% 112 p/s3436 / 5789 [------------------------------------------>____________________________] 59.35% 112 p/s3458 / 5789 [------------------------------------------>____________________________] 59.73% 112 p/s3481 / 5789 [------------------------------------------>____________________________] 60.13% 112 p/s3504 / 5789 [------------------------------------------>____________________________] 60.53% 112 p/s3526 / 5789 [------------------------------------------->___________________________] 60.91% 112 p/s3549 / 5789 [------------------------------------------->___________________________] 61.31% 112 p/s3571 / 5789 [------------------------------------------->___________________________] 61.69% 112 p/s3594 / 5789 [-------------------------------------------->__________________________] 62.08% 112 p/s3616 / 5789 [-------------------------------------------->__________________________] 62.46% 112 p/s3639 / 5789 [-------------------------------------------->__________________________] 62.86% 112 p/s3662 / 5789 [-------------------------------------------->__________________________] 63.26% 112 p/s3684 / 5789 [--------------------------------------------->_________________________] 63.64% 112 p/s3707 / 5789 [--------------------------------------------->_________________________] 64.04% 113 p/s3730 / 5789 [--------------------------------------------->_________________________] 64.43% 113 p/s3753 / 5789 [---------------------------------------------->________________________] 64.83% 113 p/s3775 / 5789 [---------------------------------------------->________________________] 65.21% 113 p/s3798 / 5789 [---------------------------------------------->________________________] 65.61% 113 p/s3821 / 5789 [---------------------------------------------->________________________] 66.00% 113 p/s3844 / 5789 [----------------------------------------------->_______________________] 66.40% 113 p/s3866 / 5789 [----------------------------------------------->_______________________] 66.78% 113 p/s3889 / 5789 [----------------------------------------------->_______________________] 67.18% 113 p/s3912 / 5789 [----------------------------------------------->_______________________] 67.58% 113 p/s3935 / 5789 [------------------------------------------------>______________________] 67.97% 113 p/s3958 / 5789 [------------------------------------------------>______________________] 68.37% 113 p/s3980 / 5789 [------------------------------------------------>______________________] 68.75% 113 p/s4003 / 5789 [------------------------------------------------->_____________________] 69.15% 113 p/s4026 / 5789 [------------------------------------------------->_____________________] 69.55% 113 p/s4048 / 5789 [------------------------------------------------->_____________________] 69.93% 113 p/s4071 / 5789 [------------------------------------------------->_____________________] 70.32% 113 p/s4093 / 5789 [-------------------------------------------------->____________________] 70.70% 113 p/s4115 / 5789 [-------------------------------------------------->____________________] 71.08% 113 p/s4138 / 5789 [-------------------------------------------------->____________________] 71.48% 113 p/s4161 / 5789 [--------------------------------------------------->___________________] 71.88% 113 p/s4183 / 5789 [--------------------------------------------------->___________________] 72.26% 113 p/s4206 / 5789 [--------------------------------------------------->___________________] 72.66% 113 p/s4229 / 5789 [--------------------------------------------------->___________________] 73.05% 113 p/s4251 / 5789 [---------------------------------------------------->__________________] 73.43% 113 p/s4274 / 5789 [---------------------------------------------------->__________________] 73.83% 113 p/s4297 / 5789 [---------------------------------------------------->__________________] 74.23% 113 p/s4319 / 5789 [---------------------------------------------------->__________________] 74.61% 113 p/s4342 / 5789 [----------------------------------------------------->_________________] 75.00% 113 p/s4365 / 5789 [----------------------------------------------------->_________________] 75.40% 113 p/s4387 / 5789 [----------------------------------------------------->_________________] 75.78% 113 p/s4410 / 5789 [------------------------------------------------------>________________] 76.18% 113 p/s4433 / 5789 [------------------------------------------------------>________________] 76.58% 113 p/s4455 / 5789 [------------------------------------------------------>________________] 76.96% 113 p/s4478 / 5789 [------------------------------------------------------>________________] 77.35% 113 p/s4501 / 5789 [------------------------------------------------------->_______________] 77.75% 113 p/s4524 / 5789 [------------------------------------------------------->_______________] 78.15% 113 p/s4547 / 5789 [------------------------------------------------------->_______________] 78.55% 113 p/s4569 / 5789 [-------------------------------------------------------->______________] 78.93% 113 p/s4592 / 5789 [-------------------------------------------------------->______________] 79.32% 113 p/s4615 / 5789 [-------------------------------------------------------->______________] 79.72% 113 p/s4638 / 5789 [-------------------------------------------------------->______________] 80.12% 113 p/s4660 / 5789 [--------------------------------------------------------->_____________] 80.50% 113 p/s4683 / 5789 [--------------------------------------------------------->_____________] 80.89% 113 p/s4706 / 5789 [--------------------------------------------------------->_____________] 81.29% 113 p/s4729 / 5789 [--------------------------------------------------------->_____________] 81.69% 113 p/s4751 / 5789 [---------------------------------------------------------->____________] 82.07% 113 p/s4774 / 5789 [---------------------------------------------------------->____________] 82.47% 113 p/s4797 / 5789 [---------------------------------------------------------->____________] 82.86% 113 p/s4819 / 5789 [----------------------------------------------------------->___________] 83.24% 113 p/s4841 / 5789 [----------------------------------------------------------->___________] 83.62% 113 p/s4864 / 5789 [----------------------------------------------------------->___________] 84.02% 113 p/s4887 / 5789 [----------------------------------------------------------->___________] 84.42% 113 p/s4909 / 5789 [------------------------------------------------------------>__________] 84.80% 113 p/s4932 / 5789 [------------------------------------------------------------>__________] 85.20% 113 p/s4955 / 5789 [------------------------------------------------------------>__________] 85.59% 113 p/s4977 / 5789 [------------------------------------------------------------->_________] 85.97% 113 p/s4999 / 5789 [------------------------------------------------------------->_________] 86.35% 113 p/s5022 / 5789 [------------------------------------------------------------->_________] 86.75% 113 p/s5044 / 5789 [------------------------------------------------------------->_________] 87.13% 113 p/s5066 / 5789 [-------------------------------------------------------------->________] 87.51% 113 p/s5088 / 5789 [-------------------------------------------------------------->________] 87.89% 113 p/s5111 / 5789 [-------------------------------------------------------------->________] 88.29% 113 p/s5134 / 5789 [-------------------------------------------------------------->________] 88.69% 113 p/s5156 / 5789 [--------------------------------------------------------------->_______] 89.07% 113 p/s5179 / 5789 [--------------------------------------------------------------->_______] 89.46% 113 p/s5201 / 5789 [--------------------------------------------------------------->_______] 89.84% 113 p/s5224 / 5789 [---------------------------------------------------------------->______] 90.24% 113 p/s5246 / 5789 [---------------------------------------------------------------->______] 90.62% 113 p/s5269 / 5789 [---------------------------------------------------------------->______] 91.02% 113 p/s5292 / 5789 [---------------------------------------------------------------->______] 91.41% 113 p/s5313 / 5789 [----------------------------------------------------------------->_____] 91.78% 113 p/s5335 / 5789 [----------------------------------------------------------------->_____] 92.16% 113 p/s5358 / 5789 [----------------------------------------------------------------->_____] 92.55% 113 p/s5381 / 5789 [----------------------------------------------------------------->_____] 92.95% 113 p/s5403 / 5789 [------------------------------------------------------------------>____] 93.33% 113 p/s5425 / 5789 [------------------------------------------------------------------>____] 93.71% 113 p/s5448 / 5789 [------------------------------------------------------------------>____] 94.11% 113 p/s5471 / 5789 [------------------------------------------------------------------->___] 94.51% 113 p/s5494 / 5789 [------------------------------------------------------------------->___] 94.90% 113 p/s5516 / 5789 [------------------------------------------------------------------->___] 95.28% 113 p/s5538 / 5789 [------------------------------------------------------------------->___] 95.66% 113 p/s5561 / 5789 [-------------------------------------------------------------------->__] 96.06% 113 p/s5584 / 5789 [-------------------------------------------------------------------->__] 96.46% 113 p/s5606 / 5789 [-------------------------------------------------------------------->__] 96.84% 113 p/s5628 / 5789 [--------------------------------------------------------------------->_] 97.22% 113 p/s5651 / 5789 [--------------------------------------------------------------------->_] 97.62% 113 p/s5672 / 5789 [--------------------------------------------------------------------->_] 97.98% 113 p/s5694 / 5789 [--------------------------------------------------------------------->_] 98.36% 113 p/s5716 / 5789 [---------------------------------------------------------------------->] 98.74% 113 p/s5739 / 5789 [---------------------------------------------------------------------->] 99.14% 113 p/s5762 / 5789 [---------------------------------------------------------------------->] 99.53% 113 p/s5784 / 5789 [---------------------------------------------------------------------->] 99.91% 113 p/s5789 / 5789 [----------------------------------------------------------------------] 100.00% 113 p/s2026-03-30T18:59:31 - INFO: Parsing 5789 sonar sweeps from /working/df5cf81d-2415-ac96-13d6-d24e1da5c2fb/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-30T19:03:00 - 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"
2026-03-30T19:03:02 - INFO: DataPrep 0.14.0rc5
2026-03-30T19:03:02 - INFO: Prepared data will be output to /working/df5cf81d-2415-ac96-13d6-d24e1da5c2fb/df5cf81d-2415-ac96-13d6-d24e1da5c2fb/processing/data
2026-03-30T19:03:02 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-30T19:03:02 - deployment - INFO: Detected P3D version: P3D_1
2026-03-30T19:03:02 - INFO: Recording GUID: df5cf81d-2415-ac96-13d6-d24e1da5c2fb
2026-03-30T19:03:02 - INFO: Preparing sonar data...
2026-03-30T19:03:02 - INFO: /working/df5cf81d-2415-ac96-13d6-d24e1da5c2fb/df5cf81d-2415-ac96-13d6-d24e1da5c2fb/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-30T19:03:07 - INFO: Sonar epoch is 2026-01-12 14:17:13.407005+00:00 (1768227433407004650)
2026-03-30T19:03:07 - INFO: Creating sonar sensor alignment track...
2026-03-30T19:03:07 - INFO: Using sonar rotation of 0.174533 radians for wedge mask
2026-03-30T19:03:07 - INFO: Sensor speed of sound is 1500 m/s
2026-03-30T19:03:07 - INFO: Sensor range is 0.939120 m
2026-03-30T19:03:07 - INFO: Sensor micrometres per sample is 3119.999982
2026-03-30T19:03:07 - INFO: Scaled speed of sound is 1472.424156 m/s
2026-03-30T19:03:07 - INFO: Scaled range is 0.921855 m
2026-03-30T19:03:07 - INFO: Scaled micrometres per sample is 3062.642227
2026-03-30T19:03:07 - INFO: Processing 5789 sweeps...

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2026-03-30T19:03:26 - INFO: Prepared sonar data in 24.4905 s
2026-03-30T19:03:26 - INFO: No IMU data found
2026-03-30T19:03:27 - INFO: DataPrep took 0:00:25.268153
2026-03-30T19:03:27 - INFO: Extracted sonar data in 0:04:47.624898
2026-03-30T19:03:28 - INFO: MSIP3D took 0:04:48.263366