2026-02-26T07:18:50 - INFO: MSIP3D 0.2.0a9
2026-02-26T07:18:50 - INFO: P3D files will be output to /working/bc817373-2cce-fd20-208b-3a8b22a55a39/bc817373-2cce-fd20-208b-3a8b22a55a39
2026-02-26T07:18:50 - INFO: Found 11 TFD dictionary entries
2026-02-26T07:18:50 - INFO: Found TFD mission for SJ502828 DEP 515
2026-02-26T07:18:50 - INFO: Recording will be processed as SMD
2026-02-26T07:18:50 - INFO: Copying assets JSON to output directory...
2026-02-26T07:18:50 - INFO: Preparing counter data...
2026-02-26T07:18:50 - INFO: Interpreting counter as imperial
2026-02-26T07:18:50 - INFO: Preparing shape track from assets JSON...
2026-02-26T07:18:50 - INFO: Prepared counter data in 0.2607 s
2026-02-26T07:18:50 - 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: LASER, Tag: 4855215978501720652
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855221467469924931
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: Index, Tag: 5291276999180902239
Name: Dictionary, Tag: 18446744073709551615
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079244958847671
Getting track SONAR
Number of frames: 4963
16 / 4963 [>___________________________________________________________________________] 0.32% ? p/s36 / 4963 [>___________________________________________________________________________] 0.73% ? p/s55 / 4963 [>___________________________________________________________________________] 1.11% ? p/s72 / 4963 [->_________________________________________________________________________] 1.45% 93 p/s92 / 4963 [->_________________________________________________________________________] 1.85% 93 p/s111 / 4963 [->________________________________________________________________________] 2.24% 93 p/s129 / 4963 [->________________________________________________________________________] 2.60% 93 p/s147 / 4963 [-->_______________________________________________________________________] 2.96% 93 p/s165 / 4963 [-->_______________________________________________________________________] 3.32% 93 p/s185 / 4963 [-->_______________________________________________________________________] 3.73% 93 p/s204 / 4963 [--->______________________________________________________________________] 4.11% 93 p/s223 / 4963 [--->______________________________________________________________________] 4.49% 93 p/s242 / 4963 [--->______________________________________________________________________] 4.88% 94 p/s260 / 4963 [--->______________________________________________________________________] 5.24% 94 p/s279 / 4963 [---->_____________________________________________________________________] 5.62% 94 p/s299 / 4963 [---->_____________________________________________________________________] 6.02% 94 p/s319 / 4963 [---->_____________________________________________________________________] 6.43% 94 p/s337 / 4963 [----->____________________________________________________________________] 6.79% 94 p/s356 / 4963 [----->____________________________________________________________________] 7.17% 94 p/s374 / 4963 [----->____________________________________________________________________] 7.54% 94 p/s391 / 4963 [----->____________________________________________________________________] 7.88% 94 p/s410 / 4963 [------>___________________________________________________________________] 8.26% 93 p/s427 / 4963 [------>___________________________________________________________________] 8.60% 93 p/s446 / 4963 [------>___________________________________________________________________] 8.99% 93 p/s466 / 4963 [------>___________________________________________________________________] 9.39% 93 p/s485 / 4963 [------->__________________________________________________________________] 9.77% 93 p/s504 / 4963 [------->_________________________________________________________________] 10.16% 93 p/s522 / 4963 [------->_________________________________________________________________] 10.52% 93 p/s541 / 4963 [------->_________________________________________________________________] 10.90% 93 p/s561 / 4963 [-------->________________________________________________________________] 11.30% 93 p/s580 / 4963 [-------->________________________________________________________________] 11.69% 94 p/s600 / 4963 [-------->________________________________________________________________] 12.09% 94 p/s618 / 4963 [--------->_______________________________________________________________] 12.45% 94 p/s636 / 4963 [--------->_______________________________________________________________] 12.81% 94 p/s655 / 4963 [--------->_______________________________________________________________] 13.20% 94 p/s674 / 4963 [--------->_______________________________________________________________] 13.58% 94 p/s693 / 4963 [---------->______________________________________________________________] 13.96% 94 p/s712 / 4963 [---------->______________________________________________________________] 14.35% 94 p/s732 / 4963 [---------->______________________________________________________________] 14.75% 94 p/s751 / 4963 [----------->_____________________________________________________________] 15.13% 94 p/s768 / 4963 [----------->_____________________________________________________________] 15.47% 94 p/s787 / 4963 [----------->_____________________________________________________________] 15.86% 94 p/s806 / 4963 [----------->_____________________________________________________________] 16.24% 94 p/s826 / 4963 [------------>____________________________________________________________] 16.64% 94 p/s846 / 4963 [------------>____________________________________________________________] 17.05% 94 p/s865 / 4963 [------------>____________________________________________________________] 17.43% 94 p/s885 / 4963 [------------->___________________________________________________________] 17.83% 94 p/s903 / 4963 [------------->___________________________________________________________] 18.19% 94 p/s921 / 4963 [------------->___________________________________________________________] 18.56% 94 p/s940 / 4963 [------------->___________________________________________________________] 18.94% 94 p/s960 / 4963 [-------------->__________________________________________________________] 19.34% 94 p/s980 / 4963 [-------------->__________________________________________________________] 19.75% 94 p/s1000 / 4963 [-------------->_________________________________________________________] 20.15% 94 p/s1018 / 4963 [-------------->_________________________________________________________] 20.51% 94 p/s1038 / 4963 [--------------->________________________________________________________] 20.91% 94 p/s1058 / 4963 [--------------->________________________________________________________] 21.32% 94 p/s1077 / 4963 [--------------->________________________________________________________] 21.70% 94 p/s1097 / 4963 [--------------->________________________________________________________] 22.10% 95 p/s1117 / 4963 [---------------->_______________________________________________________] 22.51% 95 p/s1137 / 4963 [---------------->_______________________________________________________] 22.91% 95 p/s1156 / 4963 [---------------->_______________________________________________________] 23.29% 95 p/s1176 / 4963 [----------------->______________________________________________________] 23.70% 95 p/s1196 / 4963 [----------------->______________________________________________________] 24.10% 95 p/s1215 / 4963 [----------------->______________________________________________________] 24.48% 95 p/s1235 / 4963 [----------------->______________________________________________________] 24.88% 95 p/s1255 / 4963 [------------------>_____________________________________________________] 25.29% 95 p/s1275 / 4963 [------------------>_____________________________________________________] 25.69% 95 p/s1294 / 4963 [------------------>_____________________________________________________] 26.07% 95 p/s1314 / 4963 [------------------->____________________________________________________] 26.48% 95 p/s1333 / 4963 [------------------->____________________________________________________] 26.86% 96 p/s1353 / 4963 [------------------->____________________________________________________] 27.26% 96 p/s1373 / 4963 [------------------->____________________________________________________] 27.66% 96 p/s1392 / 4963 [-------------------->___________________________________________________] 28.05% 96 p/s1412 / 4963 [-------------------->___________________________________________________] 28.45% 96 p/s1432 / 4963 [-------------------->___________________________________________________] 28.85% 96 p/s1452 / 4963 [--------------------->__________________________________________________] 29.26% 96 p/s1471 / 4963 [--------------------->__________________________________________________] 29.64% 96 p/s1491 / 4963 [--------------------->__________________________________________________] 30.04% 96 p/s1511 / 4963 [--------------------->__________________________________________________] 30.45% 96 p/s1530 / 4963 [---------------------->_________________________________________________] 30.83% 96 p/s1550 / 4963 [---------------------->_________________________________________________] 31.23% 96 p/s1570 / 4963 [---------------------->_________________________________________________] 31.63% 96 p/s1589 / 4963 [----------------------->________________________________________________] 32.02% 96 p/s1609 / 4963 [----------------------->________________________________________________] 32.42% 96 p/s1629 / 4963 [----------------------->________________________________________________] 32.82% 96 p/s1648 / 4963 [----------------------->________________________________________________] 33.21% 96 p/s1668 / 4963 [------------------------>_______________________________________________] 33.61% 96 p/s1688 / 4963 [------------------------>_______________________________________________] 34.01% 97 p/s1707 / 4963 [------------------------>_______________________________________________] 34.39% 97 p/s1727 / 4963 [------------------------->______________________________________________] 34.80% 97 p/s1747 / 4963 [------------------------->______________________________________________] 35.20% 97 p/s1766 / 4963 [------------------------->______________________________________________] 35.58% 97 p/s1786 / 4963 [------------------------->______________________________________________] 35.99% 97 p/s1806 / 4963 [-------------------------->_____________________________________________] 36.39% 97 p/s1825 / 4963 [-------------------------->_____________________________________________] 36.77% 97 p/s1845 / 4963 [-------------------------->_____________________________________________] 37.18% 97 p/s1864 / 4963 [--------------------------->____________________________________________] 37.56% 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/s1963 / 4963 [---------------------------->___________________________________________] 39.55% 97 p/s1982 / 4963 [---------------------------->___________________________________________] 39.94% 97 p/s2002 / 4963 [----------------------------->__________________________________________] 40.34% 97 p/s2022 / 4963 [----------------------------->__________________________________________] 40.74% 97 p/s2041 / 4963 [----------------------------->__________________________________________] 41.12% 97 p/s2060 / 4963 [----------------------------->__________________________________________] 41.51% 97 p/s2080 / 4963 [------------------------------>_________________________________________] 41.91% 97 p/s2100 / 4963 [------------------------------>_________________________________________] 42.31% 97 p/s2119 / 4963 [------------------------------>_________________________________________] 42.70% 97 p/s2139 / 4963 [------------------------------->________________________________________] 43.10% 97 p/s2159 / 4963 [------------------------------->________________________________________] 43.50% 97 p/s2179 / 4963 [------------------------------->________________________________________] 43.90% 97 p/s2198 / 4963 [------------------------------->________________________________________] 44.29% 97 p/s2218 / 4963 [-------------------------------->_______________________________________] 44.69% 97 p/s2237 / 4963 [-------------------------------->_______________________________________] 45.07% 97 p/s2257 / 4963 [-------------------------------->_______________________________________] 45.48% 97 p/s2276 / 4963 [--------------------------------->______________________________________] 45.86% 97 p/s2296 / 4963 [--------------------------------->______________________________________] 46.26% 97 p/s2316 / 4963 [--------------------------------->______________________________________] 46.67% 97 p/s2336 / 4963 [--------------------------------->______________________________________] 47.07% 97 p/s2355 / 4963 [---------------------------------->_____________________________________] 47.45% 97 p/s2375 / 4963 [---------------------------------->_____________________________________] 47.85% 97 p/s2395 / 4963 [---------------------------------->_____________________________________] 48.26% 97 p/s2415 / 4963 [----------------------------------->____________________________________] 48.66% 97 p/s2434 / 4963 [----------------------------------->____________________________________] 49.04% 97 p/s2454 / 4963 [----------------------------------->____________________________________] 49.45% 98 p/s2474 / 4963 [----------------------------------->____________________________________] 49.85% 98 p/s2494 / 4963 [------------------------------------>___________________________________] 50.25% 98 p/s2513 / 4963 [------------------------------------>___________________________________] 50.63% 98 p/s2533 / 4963 [------------------------------------>___________________________________] 51.04% 98 p/s2553 / 4963 [------------------------------------->__________________________________] 51.44% 98 p/s2573 / 4963 [------------------------------------->__________________________________] 51.84% 98 p/s2592 / 4963 [------------------------------------->__________________________________] 52.23% 98 p/s2612 / 4963 [------------------------------------->__________________________________] 52.63% 98 p/s2632 / 4963 [-------------------------------------->_________________________________] 53.03% 98 p/s2652 / 4963 [-------------------------------------->_________________________________] 53.44% 98 p/s2671 / 4963 [-------------------------------------->_________________________________] 53.82% 98 p/s2691 / 4963 [--------------------------------------->________________________________] 54.22% 98 p/s2711 / 4963 [--------------------------------------->________________________________] 54.62% 98 p/s2731 / 4963 [--------------------------------------->________________________________] 55.03% 98 p/s2750 / 4963 [--------------------------------------->________________________________] 55.41% 98 p/s2770 / 4963 [---------------------------------------->_______________________________] 55.81% 98 p/s2786 / 4963 [---------------------------------------->_______________________________] 56.14% 96 p/s2794 / 4963 [---------------------------------------->_______________________________] 56.30% 96 p/s2814 / 4963 [---------------------------------------->_______________________________] 56.70% 96 p/s2833 / 4963 [----------------------------------------->______________________________] 57.08% 96 p/s2853 / 4963 [----------------------------------------->______________________________] 57.49% 96 p/s2873 / 4963 [----------------------------------------->______________________________] 57.89% 96 p/s2892 / 4963 [----------------------------------------->______________________________] 58.27% 96 p/s2912 / 4963 [------------------------------------------>_____________________________] 58.67% 96 p/s2932 / 4963 [------------------------------------------>_____________________________] 59.08% 96 p/s2951 / 4963 [------------------------------------------>_____________________________] 59.46% 96 p/s2971 / 4963 [------------------------------------------->____________________________] 59.86% 96 p/s2991 / 4963 [------------------------------------------->____________________________] 60.27% 96 p/s3010 / 4963 [------------------------------------------->____________________________] 60.65% 96 p/s3030 / 4963 [------------------------------------------->____________________________] 61.05% 97 p/s3050 / 4963 [-------------------------------------------->___________________________] 61.45% 97 p/s3069 / 4963 [-------------------------------------------->___________________________] 61.84% 97 p/s3089 / 4963 [-------------------------------------------->___________________________] 62.24% 97 p/s3108 / 4963 [--------------------------------------------->__________________________] 62.62% 97 p/s3128 / 4963 [--------------------------------------------->__________________________] 63.03% 97 p/s3148 / 4963 [--------------------------------------------->__________________________] 63.43% 97 p/s3167 / 4963 [--------------------------------------------->__________________________] 63.81% 97 p/s3187 / 4963 [---------------------------------------------->_________________________] 64.22% 97 p/s3206 / 4963 [---------------------------------------------->_________________________] 64.60% 97 p/s3226 / 4963 [---------------------------------------------->_________________________] 65.00% 97 p/s3246 / 4963 [----------------------------------------------->________________________] 65.40% 97 p/s3261 / 4963 [----------------------------------------------->________________________] 65.71% 96 p/s3281 / 4963 [----------------------------------------------->________________________] 66.11% 96 p/s3301 / 4963 [----------------------------------------------->________________________] 66.51% 96 p/s3321 / 4963 [------------------------------------------------>_______________________] 66.92% 97 p/s3340 / 4963 [------------------------------------------------>_______________________] 67.30% 97 p/s3360 / 4963 [------------------------------------------------>_______________________] 67.70% 97 p/s3380 / 4963 [------------------------------------------------->______________________] 68.10% 97 p/s3399 / 4963 [------------------------------------------------->______________________] 68.49% 97 p/s3419 / 4963 [------------------------------------------------->______________________] 68.89% 97 p/s3439 / 4963 [------------------------------------------------->______________________] 69.29% 97 p/s3459 / 4963 [-------------------------------------------------->_____________________] 69.70% 97 p/s3478 / 4963 [-------------------------------------------------->_____________________] 70.08% 97 p/s3498 / 4963 [-------------------------------------------------->_____________________] 70.48% 97 p/s3518 / 4963 [--------------------------------------------------->____________________] 70.88% 97 p/s3537 / 4963 [--------------------------------------------------->____________________] 71.27% 97 p/s3557 / 4963 [--------------------------------------------------->____________________] 71.67% 97 p/s3577 / 4963 [--------------------------------------------------->____________________] 72.07% 97 p/s3596 / 4963 [---------------------------------------------------->___________________] 72.46% 97 p/s3616 / 4963 [---------------------------------------------------->___________________] 72.86% 97 p/s3636 / 4963 [---------------------------------------------------->___________________] 73.26% 97 p/s3655 / 4963 [----------------------------------------------------->__________________] 73.64% 97 p/s3675 / 4963 [----------------------------------------------------->__________________] 74.05% 97 p/s3695 / 4963 [----------------------------------------------------->__________________] 74.45% 97 p/s3714 / 4963 [----------------------------------------------------->__________________] 74.83% 97 p/s3733 / 4963 [------------------------------------------------------>_________________] 75.22% 97 p/s3753 / 4963 [------------------------------------------------------>_________________] 75.62% 97 p/s3772 / 4963 [------------------------------------------------------>_________________] 76.00% 97 p/s3792 / 4963 [------------------------------------------------------->________________] 76.41% 97 p/s3811 / 4963 [------------------------------------------------------->________________] 76.79% 97 p/s3830 / 4963 [------------------------------------------------------->________________] 77.17% 97 p/s3850 / 4963 [------------------------------------------------------->________________] 77.57% 97 p/s3869 / 4963 [-------------------------------------------------------->_______________] 77.96% 97 p/s3889 / 4963 [-------------------------------------------------------->_______________] 78.36% 97 p/s3908 / 4963 [-------------------------------------------------------->_______________] 78.74% 97 p/s3928 / 4963 [-------------------------------------------------------->_______________] 79.15% 97 p/s3948 / 4963 [--------------------------------------------------------->______________] 79.55% 97 p/s3967 / 4963 [--------------------------------------------------------->______________] 79.93% 97 p/s3987 / 4963 [--------------------------------------------------------->______________] 80.33% 97 p/s4007 / 4963 [---------------------------------------------------------->_____________] 80.74% 97 p/s4025 / 4963 [---------------------------------------------------------->_____________] 81.10% 97 p/s4044 / 4963 [---------------------------------------------------------->_____________] 81.48% 97 p/s4064 / 4963 [---------------------------------------------------------->_____________] 81.89% 97 p/s4083 / 4963 [----------------------------------------------------------->____________] 82.27% 97 p/s4101 / 4963 [----------------------------------------------------------->____________] 82.63% 97 p/s4120 / 4963 [----------------------------------------------------------->____________] 83.01% 97 p/s4140 / 4963 [------------------------------------------------------------>___________] 83.42% 97 p/s4159 / 4963 [------------------------------------------------------------>___________] 83.80% 97 p/s4179 / 4963 [------------------------------------------------------------>___________] 84.20% 97 p/s4198 / 4963 [------------------------------------------------------------>___________] 84.59% 97 p/s4218 / 4963 [------------------------------------------------------------->__________] 84.99% 97 p/s4238 / 4963 [------------------------------------------------------------->__________] 85.39% 97 p/s4257 / 4963 [------------------------------------------------------------->__________] 85.77% 97 p/s4276 / 4963 [-------------------------------------------------------------->_________] 86.16% 97 p/s4296 / 4963 [-------------------------------------------------------------->_________] 86.56% 97 p/s4315 / 4963 [-------------------------------------------------------------->_________] 86.94% 97 p/s4335 / 4963 [-------------------------------------------------------------->_________] 87.35% 97 p/s4354 / 4963 [--------------------------------------------------------------->________] 87.73% 97 p/s4374 / 4963 [--------------------------------------------------------------->________] 88.13% 97 p/s4393 / 4963 [--------------------------------------------------------------->________] 88.52% 97 p/s4413 / 4963 [---------------------------------------------------------------->_______] 88.92% 97 p/s4433 / 4963 [---------------------------------------------------------------->_______] 89.32% 97 p/s4452 / 4963 [---------------------------------------------------------------->_______] 89.70% 97 p/s4472 / 4963 [---------------------------------------------------------------->_______] 90.11% 97 p/s4492 / 4963 [----------------------------------------------------------------->______] 90.51% 97 p/s4511 / 4963 [----------------------------------------------------------------->______] 90.89% 97 p/s4531 / 4963 [----------------------------------------------------------------->______] 91.30% 97 p/s4550 / 4963 [------------------------------------------------------------------>_____] 91.68% 97 p/s4570 / 4963 [------------------------------------------------------------------>_____] 92.08% 97 p/s4589 / 4963 [------------------------------------------------------------------>_____] 92.46% 97 p/s4609 / 4963 [------------------------------------------------------------------>_____] 92.87% 97 p/s4629 / 4963 [------------------------------------------------------------------->____] 93.27% 97 p/s4648 / 4963 [------------------------------------------------------------------->____] 93.65% 97 p/s4668 / 4963 [------------------------------------------------------------------->____] 94.06% 97 p/s4688 / 4963 [-------------------------------------------------------------------->___] 94.46% 97 p/s4708 / 4963 [-------------------------------------------------------------------->___] 94.86% 97 p/s4727 / 4963 [-------------------------------------------------------------------->___] 95.24% 97 p/s4747 / 4963 [-------------------------------------------------------------------->___] 95.65% 97 p/s4767 / 4963 [--------------------------------------------------------------------->__] 96.05% 97 p/s4786 / 4963 [--------------------------------------------------------------------->__] 96.43% 98 p/s4806 / 4963 [--------------------------------------------------------------------->__] 96.84% 98 p/s4825 / 4963 [--------------------------------------------------------------------->__] 97.22% 98 p/s4845 / 4963 [---------------------------------------------------------------------->_] 97.62% 98 p/s4865 / 4963 [---------------------------------------------------------------------->_] 98.03% 98 p/s4884 / 4963 [---------------------------------------------------------------------->_] 98.41% 98 p/s4904 / 4963 [----------------------------------------------------------------------->] 98.81% 98 p/s4924 / 4963 [----------------------------------------------------------------------->] 99.21% 98 p/s4943 / 4963 [----------------------------------------------------------------------->] 99.60% 98 p/s4963 / 4963 [-----------------------------------------------------------------------] 100.00% 97 p/s2026-02-26T07:19:42 - INFO: Parsing 4963 sonar sweeps from /working/bc817373-2cce-fd20-208b-3a8b22a55a39/tfd/output/SONAR/all-sweeps-info.csv...

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2026-02-26T07:22:55 - 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-cluster-size 15 --sonar-mask-angle 120 --sonar-despike /working/bc817373-2cce-fd20-208b-3a8b22a55a39/bc817373-2cce-fd20-208b-3a8b22a55a39"
2026-02-26T07:22:56 - INFO: DataPrep 0.14.0a5
2026-02-26T07:22:56 - INFO: Prepared data will be output to /working/bc817373-2cce-fd20-208b-3a8b22a55a39/bc817373-2cce-fd20-208b-3a8b22a55a39/processing/data
2026-02-26T07:22:56 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-02-26T07:22:56 - deployment - INFO: Detected P3D version: P3D_1
2026-02-26T07:22:56 - INFO: Recording GUID: bc817373-2cce-fd20-208b-3a8b22a55a39
2026-02-26T07:22:56 - INFO: Preparing sonar data...
2026-02-26T07:22:56 - INFO: /working/bc817373-2cce-fd20-208b-3a8b22a55a39/bc817373-2cce-fd20-208b-3a8b22a55a39/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-02-26T07:23:01 - INFO: Sonar epoch is 2026-02-18 14:18:25.251259+00:00 (1771424305251259000)
2026-02-26T07:23:01 - INFO: Sonar configured speed of sound was 1500 m/s
2026-02-26T07:23:01 - INFO: Sonar range is 1.589280 m
2026-02-26T07:23:01 - INFO: Speed of sound is 1494 m/s
2026-02-26T07:23:01 - INFO: Processing 4963 sweeps...

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2026-02-26T07:23:14 - INFO: Creating sonar sensor alignment track...
2026-02-26T07:23:19 - INFO: Prepared sonar data in 22.9752 s
2026-02-26T07:23:19 - INFO: No IMU data found
2026-02-26T07:23:20 - INFO: DataPrep took 0:00:23.716320
2026-02-26T07:23:20 - INFO: Extracted sonar data in 0:04:29.769479
2026-02-26T07:23:21 - INFO: MSIP3D took 0:04:30.459091