2026-02-22T23:06:29 - INFO: MSIP3D 0.2.0a4
2026-02-22T23:06:29 - INFO: P3D files will be output to /working/bc817373-2cce-fd20-208b-3a8b22a55a39/bc817373-2cce-fd20-208b-3a8b22a55a39
2026-02-22T23:06:29 - INFO: Found 11 TFD dictionary entries
2026-02-22T23:06:29 - INFO: Found TFD mission for SJ502828 DEP 515
2026-02-22T23:06:29 - INFO: Recording will be processed as SMD
2026-02-22T23:06:29 - INFO: Copying assets JSON to output directory...
2026-02-22T23:06:29 - INFO: Preparing counter data...
2026-02-22T23:06:29 - INFO: Interpreting counter as imperial
2026-02-22T23:06:29 - INFO: Prepared counter data in 0.2550 s
2026-02-22T23:06:29 - 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: CCTV, Tag: 4855215978501720643
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855221467469924931
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
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/s134 / 4963 [->________________________________________________________________________] 2.70% 95 p/s154 / 4963 [-->_______________________________________________________________________] 3.10% 95 p/s174 / 4963 [-->_______________________________________________________________________] 3.51% 95 p/s193 / 4963 [-->_______________________________________________________________________] 3.89% 95 p/s212 / 4963 [--->______________________________________________________________________] 4.27% 95 p/s232 / 4963 [--->______________________________________________________________________] 4.67% 95 p/s251 / 4963 [--->______________________________________________________________________] 5.06% 95 p/s270 / 4963 [---->_____________________________________________________________________] 5.44% 95 p/s289 / 4963 [---->_____________________________________________________________________] 5.82% 95 p/s309 / 4963 [---->_____________________________________________________________________] 6.23% 96 p/s328 / 4963 [---->_____________________________________________________________________] 6.61% 96 p/s347 / 4963 [----->____________________________________________________________________] 6.99% 96 p/s367 / 4963 [----->____________________________________________________________________] 7.39% 96 p/s386 / 4963 [----->____________________________________________________________________] 7.78% 96 p/s406 / 4963 [------>___________________________________________________________________] 8.18% 96 p/s425 / 4963 [------>___________________________________________________________________] 8.56% 96 p/s445 / 4963 [------>___________________________________________________________________] 8.97% 96 p/s464 / 4963 [------>___________________________________________________________________] 9.35% 96 p/s484 / 4963 [------->__________________________________________________________________] 9.75% 96 p/s503 / 4963 [------->_________________________________________________________________] 10.13% 96 p/s522 / 4963 [------->_________________________________________________________________] 10.52% 96 p/s542 / 4963 [------->_________________________________________________________________] 10.92% 96 p/s561 / 4963 [-------->________________________________________________________________] 11.30% 96 p/s581 / 4963 [-------->________________________________________________________________] 11.71% 96 p/s600 / 4963 [-------->________________________________________________________________] 12.09% 96 p/s620 / 4963 [--------->_______________________________________________________________] 12.49% 96 p/s639 / 4963 [--------->_______________________________________________________________] 12.88% 96 p/s659 / 4963 [--------->_______________________________________________________________] 13.28% 96 p/s678 / 4963 [--------->_______________________________________________________________] 13.66% 96 p/s698 / 4963 [---------->______________________________________________________________] 14.06% 96 p/s717 / 4963 [---------->______________________________________________________________] 14.45% 96 p/s737 / 4963 [---------->______________________________________________________________] 14.85% 96 p/s756 / 4963 [----------->_____________________________________________________________] 15.23% 96 p/s776 / 4963 [----------->_____________________________________________________________] 15.64% 96 p/s796 / 4963 [----------->_____________________________________________________________] 16.04% 96 p/s815 / 4963 [----------->_____________________________________________________________] 16.42% 96 p/s835 / 4963 [------------>____________________________________________________________] 16.82% 96 p/s854 / 4963 [------------>____________________________________________________________] 17.21% 96 p/s874 / 4963 [------------>____________________________________________________________] 17.61% 96 p/s893 / 4963 [------------->___________________________________________________________] 17.99% 96 p/s912 / 4963 [------------->___________________________________________________________] 18.38% 96 p/s931 / 4963 [------------->___________________________________________________________] 18.76% 96 p/s951 / 4963 [------------->___________________________________________________________] 19.16% 96 p/s970 / 4963 [-------------->__________________________________________________________] 19.54% 96 p/s989 / 4963 [-------------->__________________________________________________________] 19.93% 96 p/s1009 / 4963 [-------------->_________________________________________________________] 20.33% 96 p/s1027 / 4963 [-------------->_________________________________________________________] 20.69% 96 p/s1047 / 4963 [--------------->________________________________________________________] 21.10% 96 p/s1067 / 4963 [--------------->________________________________________________________] 21.50% 96 p/s1086 / 4963 [--------------->________________________________________________________] 21.88% 96 p/s1105 / 4963 [---------------->_______________________________________________________] 22.26% 96 p/s1125 / 4963 [---------------->_______________________________________________________] 22.67% 96 p/s1144 / 4963 [---------------->_______________________________________________________] 23.05% 96 p/s1164 / 4963 [---------------->_______________________________________________________] 23.45% 96 p/s1183 / 4963 [----------------->______________________________________________________] 23.84% 96 p/s1203 / 4963 [----------------->______________________________________________________] 24.24% 96 p/s1222 / 4963 [----------------->______________________________________________________] 24.62% 96 p/s1242 / 4963 [------------------>_____________________________________________________] 25.03% 97 p/s1261 / 4963 [------------------>_____________________________________________________] 25.41% 97 p/s1281 / 4963 [------------------>_____________________________________________________] 25.81% 97 p/s1300 / 4963 [------------------>_____________________________________________________] 26.19% 97 p/s1320 / 4963 [------------------->____________________________________________________] 26.60% 97 p/s1339 / 4963 [------------------->____________________________________________________] 26.98% 97 p/s1359 / 4963 [------------------->____________________________________________________] 27.38% 97 p/s1378 / 4963 [------------------->____________________________________________________] 27.77% 97 p/s1398 / 4963 [-------------------->___________________________________________________] 28.17% 97 p/s1417 / 4963 [-------------------->___________________________________________________] 28.55% 97 p/s1437 / 4963 [-------------------->___________________________________________________] 28.95% 97 p/s1456 / 4963 [--------------------->__________________________________________________] 29.34% 97 p/s1476 / 4963 [--------------------->__________________________________________________] 29.74% 97 p/s1495 / 4963 [--------------------->__________________________________________________] 30.12% 97 p/s1514 / 4963 [--------------------->__________________________________________________] 30.51% 97 p/s1534 / 4963 [---------------------->_________________________________________________] 30.91% 97 p/s1553 / 4963 [---------------------->_________________________________________________] 31.29% 97 p/s1573 / 4963 [---------------------->_________________________________________________] 31.69% 97 p/s1592 / 4963 [----------------------->________________________________________________] 32.08% 97 p/s1612 / 4963 [----------------------->________________________________________________] 32.48% 97 p/s1631 / 4963 [----------------------->________________________________________________] 32.86% 97 p/s1651 / 4963 [----------------------->________________________________________________] 33.27% 97 p/s1670 / 4963 [------------------------>_______________________________________________] 33.65% 97 p/s1690 / 4963 [------------------------>_______________________________________________] 34.05% 97 p/s1709 / 4963 [------------------------>_______________________________________________] 34.43% 97 p/s1728 / 4963 [------------------------->______________________________________________] 34.82% 97 p/s1748 / 4963 [------------------------->______________________________________________] 35.22% 97 p/s1767 / 4963 [------------------------->______________________________________________] 35.60% 97 p/s1787 / 4963 [------------------------->______________________________________________] 36.01% 97 p/s1806 / 4963 [-------------------------->_____________________________________________] 36.39% 97 p/s1826 / 4963 [-------------------------->_____________________________________________] 36.79% 97 p/s1845 / 4963 [-------------------------->_____________________________________________] 37.18% 97 p/s1865 / 4963 [--------------------------->____________________________________________] 37.58% 97 p/s1884 / 4963 [--------------------------->____________________________________________] 37.96% 97 p/s1904 / 4963 [--------------------------->____________________________________________] 38.36% 97 p/s1923 / 4963 [--------------------------->____________________________________________] 38.75% 97 p/s1943 / 4963 [---------------------------->___________________________________________] 39.15% 97 p/s1962 / 4963 [---------------------------->___________________________________________] 39.53% 97 p/s1981 / 4963 [---------------------------->___________________________________________] 39.92% 97 p/s2001 / 4963 [----------------------------->__________________________________________] 40.32% 97 p/s2020 / 4963 [----------------------------->__________________________________________] 40.70% 97 p/s2040 / 4963 [----------------------------->__________________________________________] 41.10% 97 p/s2059 / 4963 [----------------------------->__________________________________________] 41.49% 97 p/s2078 / 4963 [------------------------------>_________________________________________] 41.87% 97 p/s2098 / 4963 [------------------------------>_________________________________________] 42.27% 97 p/s2117 / 4963 [------------------------------>_________________________________________] 42.66% 97 p/s2137 / 4963 [------------------------------->________________________________________] 43.06% 97 p/s2156 / 4963 [------------------------------->________________________________________] 43.44% 97 p/s2175 / 4963 [------------------------------->________________________________________] 43.82% 97 p/s2195 / 4963 [------------------------------->________________________________________] 44.23% 97 p/s2214 / 4963 [-------------------------------->_______________________________________] 44.61% 97 p/s2234 / 4963 [-------------------------------->_______________________________________] 45.01% 97 p/s2253 / 4963 [-------------------------------->_______________________________________] 45.40% 97 p/s2273 / 4963 [-------------------------------->_______________________________________] 45.80% 97 p/s2292 / 4963 [--------------------------------->______________________________________] 46.18% 97 p/s2312 / 4963 [--------------------------------->______________________________________] 46.58% 97 p/s2331 / 4963 [--------------------------------->______________________________________] 46.97% 97 p/s2351 / 4963 [---------------------------------->_____________________________________] 47.37% 97 p/s2370 / 4963 [---------------------------------->_____________________________________] 47.75% 97 p/s2390 / 4963 [---------------------------------->_____________________________________] 48.16% 97 p/s2409 / 4963 [---------------------------------->_____________________________________] 48.54% 97 p/s2429 / 4963 [----------------------------------->____________________________________] 48.94% 97 p/s2448 / 4963 [----------------------------------->____________________________________] 49.33% 97 p/s2467 / 4963 [----------------------------------->____________________________________] 49.71% 97 p/s2487 / 4963 [------------------------------------>___________________________________] 50.11% 97 p/s2506 / 4963 [------------------------------------>___________________________________] 50.49% 97 p/s2526 / 4963 [------------------------------------>___________________________________] 50.90% 97 p/s2545 / 4963 [------------------------------------>___________________________________] 51.28% 97 p/s2565 / 4963 [------------------------------------->__________________________________] 51.68% 97 p/s2584 / 4963 [------------------------------------->__________________________________] 52.07% 97 p/s2604 / 4963 [------------------------------------->__________________________________] 52.47% 97 p/s2623 / 4963 [-------------------------------------->_________________________________] 52.85% 97 p/s2643 / 4963 [-------------------------------------->_________________________________] 53.25% 97 p/s2662 / 4963 [-------------------------------------->_________________________________] 53.64% 97 p/s2682 / 4963 [-------------------------------------->_________________________________] 54.04% 97 p/s2701 / 4963 [--------------------------------------->________________________________] 54.42% 97 p/s2720 / 4963 [--------------------------------------->________________________________] 54.81% 97 p/s2740 / 4963 [--------------------------------------->________________________________] 55.21% 97 p/s2760 / 4963 [---------------------------------------->_______________________________] 55.61% 97 p/s2779 / 4963 [---------------------------------------->_______________________________] 55.99% 97 p/s2799 / 4963 [---------------------------------------->_______________________________] 56.40% 97 p/s2818 / 4963 [---------------------------------------->_______________________________] 56.78% 97 p/s2838 / 4963 [----------------------------------------->______________________________] 57.18% 97 p/s2857 / 4963 [----------------------------------------->______________________________] 57.57% 97 p/s2876 / 4963 [----------------------------------------->______________________________] 57.95% 97 p/s2896 / 4963 [------------------------------------------>_____________________________] 58.35% 97 p/s2915 / 4963 [------------------------------------------>_____________________________] 58.73% 97 p/s2935 / 4963 [------------------------------------------>_____________________________] 59.14% 97 p/s2954 / 4963 [------------------------------------------>_____________________________] 59.52% 97 p/s2973 / 4963 [------------------------------------------->____________________________] 59.90% 97 p/s2993 / 4963 [------------------------------------------->____________________________] 60.31% 97 p/s3012 / 4963 [------------------------------------------->____________________________] 60.69% 97 p/s3032 / 4963 [------------------------------------------->____________________________] 61.09% 97 p/s3051 / 4963 [-------------------------------------------->___________________________] 61.47% 97 p/s3071 / 4963 [-------------------------------------------->___________________________] 61.88% 97 p/s3090 / 4963 [-------------------------------------------->___________________________] 62.26% 97 p/s3110 / 4963 [--------------------------------------------->__________________________] 62.66% 97 p/s3130 / 4963 [--------------------------------------------->__________________________] 63.07% 97 p/s3149 / 4963 [--------------------------------------------->__________________________] 63.45% 97 p/s3169 / 4963 [--------------------------------------------->__________________________] 63.85% 97 p/s3188 / 4963 [---------------------------------------------->_________________________] 64.24% 97 p/s3208 / 4963 [---------------------------------------------->_________________________] 64.64% 97 p/s3227 / 4963 [---------------------------------------------->_________________________] 65.02% 97 p/s3246 / 4963 [----------------------------------------------->________________________] 65.40% 97 p/s3266 / 4963 [----------------------------------------------->________________________] 65.81% 97 p/s3286 / 4963 [----------------------------------------------->________________________] 66.21% 97 p/s3305 / 4963 [----------------------------------------------->________________________] 66.59% 97 p/s3324 / 4963 [------------------------------------------------>_______________________] 66.98% 97 p/s3344 / 4963 [------------------------------------------------>_______________________] 67.38% 97 p/s3363 / 4963 [------------------------------------------------>_______________________] 67.76% 97 p/s3383 / 4963 [------------------------------------------------->______________________] 68.16% 97 p/s3403 / 4963 [------------------------------------------------->______________________] 68.57% 97 p/s3422 / 4963 [------------------------------------------------->______________________] 68.95% 97 p/s3442 / 4963 [------------------------------------------------->______________________] 69.35% 97 p/s3461 / 4963 [-------------------------------------------------->_____________________] 69.74% 97 p/s3481 / 4963 [-------------------------------------------------->_____________________] 70.14% 97 p/s3500 / 4963 [-------------------------------------------------->_____________________] 70.52% 97 p/s3519 / 4963 [--------------------------------------------------->____________________] 70.90% 97 p/s3539 / 4963 [--------------------------------------------------->____________________] 71.31% 97 p/s3558 / 4963 [--------------------------------------------------->____________________] 71.69% 97 p/s3578 / 4963 [--------------------------------------------------->____________________] 72.09% 97 p/s3597 / 4963 [---------------------------------------------------->___________________] 72.48% 97 p/s3617 / 4963 [---------------------------------------------------->___________________] 72.88% 97 p/s3636 / 4963 [---------------------------------------------------->___________________] 73.26% 97 p/s3656 / 4963 [----------------------------------------------------->__________________] 73.67% 97 p/s3675 / 4963 [----------------------------------------------------->__________________] 74.05% 97 p/s3694 / 4963 [----------------------------------------------------->__________________] 74.43% 97 p/s3714 / 4963 [----------------------------------------------------->__________________] 74.83% 97 p/s3733 / 4963 [------------------------------------------------------>_________________] 75.22% 97 p/s3753 / 4963 [------------------------------------------------------>_________________] 75.62% 97 p/s3773 / 4963 [------------------------------------------------------>_________________] 76.02% 97 p/s3792 / 4963 [------------------------------------------------------->________________] 76.41% 97 p/s3812 / 4963 [------------------------------------------------------->________________] 76.81% 97 p/s3832 / 4963 [------------------------------------------------------->________________] 77.21% 97 p/s3851 / 4963 [------------------------------------------------------->________________] 77.59% 97 p/s3870 / 4963 [-------------------------------------------------------->_______________] 77.98% 97 p/s3890 / 4963 [-------------------------------------------------------->_______________] 78.38% 97 p/s3910 / 4963 [-------------------------------------------------------->_______________] 78.78% 97 p/s3929 / 4963 [-------------------------------------------------------->_______________] 79.17% 97 p/s3949 / 4963 [--------------------------------------------------------->______________] 79.57% 97 p/s3968 / 4963 [--------------------------------------------------------->______________] 79.95% 97 p/s3987 / 4963 [--------------------------------------------------------->______________] 80.33% 97 p/s4007 / 4963 [---------------------------------------------------------->_____________] 80.74% 97 p/s4026 / 4963 [---------------------------------------------------------->_____________] 81.12% 97 p/s4046 / 4963 [---------------------------------------------------------->_____________] 81.52% 97 p/s4065 / 4963 [---------------------------------------------------------->_____________] 81.91% 97 p/s4084 / 4963 [----------------------------------------------------------->____________] 82.29% 97 p/s4103 / 4963 [----------------------------------------------------------->____________] 82.67% 97 p/s4122 / 4963 [----------------------------------------------------------->____________] 83.05% 97 p/s4142 / 4963 [------------------------------------------------------------>___________] 83.46% 97 p/s4161 / 4963 [------------------------------------------------------------>___________] 83.84% 97 p/s4180 / 4963 [------------------------------------------------------------>___________] 84.22% 97 p/s4200 / 4963 [------------------------------------------------------------>___________] 84.63% 97 p/s4219 / 4963 [------------------------------------------------------------->__________] 85.01% 97 p/s4238 / 4963 [------------------------------------------------------------->__________] 85.39% 97 p/s4258 / 4963 [------------------------------------------------------------->__________] 85.79% 97 p/s4277 / 4963 [-------------------------------------------------------------->_________] 86.18% 97 p/s4297 / 4963 [-------------------------------------------------------------->_________] 86.58% 97 p/s4316 / 4963 [-------------------------------------------------------------->_________] 86.96% 97 p/s4336 / 4963 [-------------------------------------------------------------->_________] 87.37% 97 p/s4355 / 4963 [--------------------------------------------------------------->________] 87.75% 97 p/s4375 / 4963 [--------------------------------------------------------------->________] 88.15% 97 p/s4395 / 4963 [--------------------------------------------------------------->________] 88.56% 97 p/s4414 / 4963 [---------------------------------------------------------------->_______] 88.94% 97 p/s4433 / 4963 [---------------------------------------------------------------->_______] 89.32% 97 p/s4453 / 4963 [---------------------------------------------------------------->_______] 89.72% 97 p/s4472 / 4963 [---------------------------------------------------------------->_______] 90.11% 97 p/s4492 / 4963 [----------------------------------------------------------------->______] 90.51% 97 p/s4511 / 4963 [----------------------------------------------------------------->______] 90.89% 97 p/s4530 / 4963 [----------------------------------------------------------------->______] 91.28% 97 p/s4550 / 4963 [------------------------------------------------------------------>_____] 91.68% 97 p/s4569 / 4963 [------------------------------------------------------------------>_____] 92.06% 97 p/s4589 / 4963 [------------------------------------------------------------------>_____] 92.46% 97 p/s4608 / 4963 [------------------------------------------------------------------>_____] 92.85% 97 p/s4627 / 4963 [------------------------------------------------------------------->____] 93.23% 97 p/s4647 / 4963 [------------------------------------------------------------------->____] 93.63% 97 p/s4666 / 4963 [------------------------------------------------------------------->____] 94.02% 97 p/s4686 / 4963 [------------------------------------------------------------------->____] 94.42% 97 p/s4705 / 4963 [-------------------------------------------------------------------->___] 94.80% 97 p/s4724 / 4963 [-------------------------------------------------------------------->___] 95.18% 97 p/s4743 / 4963 [-------------------------------------------------------------------->___] 95.57% 97 p/s4763 / 4963 [--------------------------------------------------------------------->__] 95.97% 97 p/s4783 / 4963 [--------------------------------------------------------------------->__] 96.37% 97 p/s4802 / 4963 [--------------------------------------------------------------------->__] 96.76% 97 p/s4821 / 4963 [--------------------------------------------------------------------->__] 97.14% 97 p/s4841 / 4963 [---------------------------------------------------------------------->_] 97.54% 97 p/s4860 / 4963 [---------------------------------------------------------------------->_] 97.92% 97 p/s4879 / 4963 [---------------------------------------------------------------------->_] 98.31% 97 p/s4899 / 4963 [----------------------------------------------------------------------->] 98.71% 97 p/s4918 / 4963 [----------------------------------------------------------------------->] 99.09% 97 p/s4937 / 4963 [----------------------------------------------------------------------->] 99.48% 97 p/s4957 / 4963 [----------------------------------------------------------------------->] 99.88% 97 p/s4963 / 4963 [-----------------------------------------------------------------------] 100.00% 98 p/s2026-02-22T23:07:21 - INFO: Parsing 4963 sonar sweeps from /working/bc817373-2cce-fd20-208b-3a8b22a55a39/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/4963 [00:00<?, ?it/s]
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2026-02-22T23:10:35 - INFO: Running DataPrep with "python -m dataprep --force --no-counter --no-video --no-laser --sonar --sonar-format cbor --temperature 17.8 --salinity 17.8 --pressure 17.8 --sonar-sample-distance 150 --sonar-mask-angle 120 --sonar-despike /working/bc817373-2cce-fd20-208b-3a8b22a55a39/bc817373-2cce-fd20-208b-3a8b22a55a39"
2026-02-22T23:10:36 - INFO: DataPrep 0.14.0a3
2026-02-22T23:10:36 - INFO: Prepared data will be output to /working/bc817373-2cce-fd20-208b-3a8b22a55a39/bc817373-2cce-fd20-208b-3a8b22a55a39/processing/data
2026-02-22T23:10:36 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-02-22T23:10:36 - deployment - INFO: Detected P3D version: P3D_1
2026-02-22T23:10:36 - INFO: Recording GUID: bc817373-2cce-fd20-208b-3a8b22a55a39
2026-02-22T23:10:36 - INFO: Preparing sonar data...
2026-02-22T23:10:36 - INFO: /working/bc817373-2cce-fd20-208b-3a8b22a55a39/bc817373-2cce-fd20-208b-3a8b22a55a39/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-02-22T23:10:40 - INFO: Sonar epoch is 2026-02-18 14:18:25.251259+00:00 (1771424305251259000)
2026-02-22T23:10:40 - INFO: Sonar configured speed of sound was 1500 m/s
2026-02-22T23:10:40 - INFO: Sonar range is 1.589280 m
2026-02-22T23:10:40 - INFO: Speed of sound is 1494 m/s
2026-02-22T23:10:40 - INFO: Processing 4963 sweeps...

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2026-02-22T23:10:53 - INFO: Creating sonar sensor alignment track...
2026-02-22T23:10:59 - INFO: Prepared sonar data in 23.1497 s
2026-02-22T23:10:59 - INFO: No IMU data found
2026-02-22T23:10:59 - INFO: DataPrep took 0:00:23.888516
2026-02-22T23:11:00 - INFO: Extracted sonar data in 0:04:30.207514
2026-02-22T23:11:00 - INFO: MSIP3D took 0:04:30.898880