2026-02-26T07:12:47 - INFO: MSIP3D 0.2.0a9
2026-02-26T07:12:47 - INFO: P3D files will be output to /working/a6118df3-7573-c262-c796-239ab98ebc33/a6118df3-7573-c262-c796-239ab98ebc33
2026-02-26T07:12:47 - INFO: Found 10 TFD dictionary entries
2026-02-26T07:12:47 - INFO: Found TFD mission for SJ502795 Dep 15
2026-02-26T07:12:47 - INFO: Recording will be processed as MD
2026-02-26T07:12:47 - INFO: Copying assets JSON to output directory...
2026-02-26T07:12:47 - INFO: Preparing counter data...
2026-02-26T07:12:47 - INFO: Interpreting counter as imperial
2026-02-26T07:12:47 - INFO: Preparing shape track from assets JSON...
TFD path: /working/a6118df3-7573-c262-c796-239ab98ebc33/tfd/SJ502795_Dep_15.tfd
TFD path: /working/a6118df3-7573-c262-c796-239ab98ebc33/tfd/output
2026-02-26T07:12:47 - INFO: Prepared counter data in 0.0927 s
2026-02-26T07:12:47 - INFO: Extracting sonar data...
Name: Dictionary, Tag: 18446744073709551615
Name: Index, Tag: 5291276999180902239
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855221467469924931
Name: LASER, Tag: 4855221467469924940
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 5725
21 / 5725 [>___________________________________________________________________________] 0.37% ? p/s44 / 5725 [>___________________________________________________________________________] 0.77% ? p/s66 / 5725 [>___________________________________________________________________________] 1.15% ? p/s87 / 5725 [->________________________________________________________________________] 1.52% 110 p/s109 / 5725 [->_______________________________________________________________________] 1.90% 110 p/s131 / 5725 [->_______________________________________________________________________] 2.29% 110 p/s153 / 5725 [->_______________________________________________________________________] 2.67% 110 p/s176 / 5725 [-->______________________________________________________________________] 3.07% 110 p/s198 / 5725 [-->______________________________________________________________________] 3.46% 110 p/s221 / 5725 [-->______________________________________________________________________] 3.86% 110 p/s243 / 5725 [--->_____________________________________________________________________] 4.24% 110 p/s264 / 5725 [--->_____________________________________________________________________] 4.61% 110 p/s287 / 5725 [--->_____________________________________________________________________] 5.01% 110 p/s309 / 5725 [--->_____________________________________________________________________] 5.40% 110 p/s332 / 5725 [---->____________________________________________________________________] 5.80% 110 p/s355 / 5725 [---->____________________________________________________________________] 6.20% 110 p/s377 / 5725 [---->____________________________________________________________________] 6.59% 110 p/s400 / 5725 [----->___________________________________________________________________] 6.99% 110 p/s422 / 5725 [----->___________________________________________________________________] 7.37% 110 p/s445 / 5725 [----->___________________________________________________________________] 7.77% 110 p/s467 / 5725 [----->___________________________________________________________________] 8.16% 110 p/s490 / 5725 [------>__________________________________________________________________] 8.56% 111 p/s512 / 5725 [------>__________________________________________________________________] 8.94% 111 p/s535 / 5725 [------>__________________________________________________________________] 9.34% 111 p/s557 / 5725 [------->_________________________________________________________________] 9.73% 111 p/s580 / 5725 [------->________________________________________________________________] 10.13% 111 p/s603 / 5725 [------->________________________________________________________________] 10.53% 111 p/s625 / 5725 [------->________________________________________________________________] 10.92% 111 p/s648 / 5725 [-------->_______________________________________________________________] 11.32% 111 p/s671 / 5725 [-------->_______________________________________________________________] 11.72% 111 p/s694 / 5725 [-------->_______________________________________________________________] 12.12% 111 p/s716 / 5725 [--------->______________________________________________________________] 12.51% 111 p/s739 / 5725 [--------->______________________________________________________________] 12.91% 111 p/s761 / 5725 [--------->______________________________________________________________] 13.29% 111 p/s784 / 5725 [--------->______________________________________________________________] 13.69% 111 p/s807 / 5725 [---------->_____________________________________________________________] 14.10% 111 p/s829 / 5725 [---------->_____________________________________________________________] 14.48% 111 p/s852 / 5725 [---------->_____________________________________________________________] 14.88% 111 p/s874 / 5725 [---------->_____________________________________________________________] 15.27% 111 p/s897 / 5725 [----------->____________________________________________________________] 15.67% 111 p/s920 / 5725 [----------->____________________________________________________________] 16.07% 111 p/s943 / 5725 [----------->____________________________________________________________] 16.47% 111 p/s966 / 5725 [------------>___________________________________________________________] 16.87% 112 p/s988 / 5725 [------------>___________________________________________________________] 17.26% 112 p/s1011 / 5725 [------------>__________________________________________________________] 17.66% 112 p/s1033 / 5725 [------------>__________________________________________________________] 18.04% 112 p/s1055 / 5725 [------------->_________________________________________________________] 18.43% 112 p/s1078 / 5725 [------------->_________________________________________________________] 18.83% 112 p/s1100 / 5725 [------------->_________________________________________________________] 19.21% 112 p/s1122 / 5725 [------------->_________________________________________________________] 19.60% 112 p/s1145 / 5725 [-------------->________________________________________________________] 20.00% 112 p/s1167 / 5725 [-------------->________________________________________________________] 20.38% 112 p/s1190 / 5725 [-------------->________________________________________________________] 20.79% 112 p/s1212 / 5725 [--------------->_______________________________________________________] 21.17% 112 p/s1235 / 5725 [--------------->_______________________________________________________] 21.57% 112 p/s1257 / 5725 [--------------->_______________________________________________________] 21.96% 112 p/s1280 / 5725 [--------------->_______________________________________________________] 22.36% 112 p/s1303 / 5725 [---------------->______________________________________________________] 22.76% 112 p/s1325 / 5725 [---------------->______________________________________________________] 23.14% 112 p/s1348 / 5725 [---------------->______________________________________________________] 23.55% 112 p/s1370 / 5725 [---------------->______________________________________________________] 23.93% 112 p/s1393 / 5725 [----------------->_____________________________________________________] 24.33% 112 p/s1416 / 5725 [----------------->_____________________________________________________] 24.73% 112 p/s1438 / 5725 [----------------->_____________________________________________________] 25.12% 112 p/s1461 / 5725 [------------------>____________________________________________________] 25.52% 112 p/s1483 / 5725 [------------------>____________________________________________________] 25.90% 112 p/s1506 / 5725 [------------------>____________________________________________________] 26.31% 112 p/s1529 / 5725 [------------------>____________________________________________________] 26.71% 112 p/s1551 / 5725 [------------------->___________________________________________________] 27.09% 112 p/s1574 / 5725 [------------------->___________________________________________________] 27.49% 112 p/s1596 / 5725 [------------------->___________________________________________________] 27.88% 112 p/s1619 / 5725 [-------------------->__________________________________________________] 28.28% 112 p/s1641 / 5725 [-------------------->__________________________________________________] 28.66% 112 p/s1664 / 5725 [-------------------->__________________________________________________] 29.07% 112 p/s1686 / 5725 [-------------------->__________________________________________________] 29.45% 112 p/s1709 / 5725 [--------------------->_________________________________________________] 29.85% 112 p/s1732 / 5725 [--------------------->_________________________________________________] 30.25% 112 p/s1754 / 5725 [--------------------->_________________________________________________] 30.64% 112 p/s1776 / 5725 [---------------------->________________________________________________] 31.02% 112 p/s1799 / 5725 [---------------------->________________________________________________] 31.42% 112 p/s1821 / 5725 [---------------------->________________________________________________] 31.81% 112 p/s1844 / 5725 [---------------------->________________________________________________] 32.21% 112 p/s1866 / 5725 [----------------------->_______________________________________________] 32.59% 112 p/s1889 / 5725 [----------------------->_______________________________________________] 33.00% 112 p/s1911 / 5725 [----------------------->_______________________________________________] 33.38% 112 p/s1934 / 5725 [----------------------->_______________________________________________] 33.78% 112 p/s1957 / 5725 [------------------------>______________________________________________] 34.18% 112 p/s1979 / 5725 [------------------------>______________________________________________] 34.57% 112 p/s2002 / 5725 [------------------------>______________________________________________] 34.97% 112 p/s2024 / 5725 [------------------------->_____________________________________________] 35.35% 112 p/s2046 / 5725 [------------------------->_____________________________________________] 35.74% 112 p/s2068 / 5725 [------------------------->_____________________________________________] 36.12% 112 p/s2091 / 5725 [------------------------->_____________________________________________] 36.52% 112 p/s2113 / 5725 [-------------------------->____________________________________________] 36.91% 112 p/s2136 / 5725 [-------------------------->____________________________________________] 37.31% 112 p/s2158 / 5725 [-------------------------->____________________________________________] 37.69% 112 p/s2180 / 5725 [--------------------------->___________________________________________] 38.08% 112 p/s2203 / 5725 [--------------------------->___________________________________________] 38.48% 112 p/s2225 / 5725 [--------------------------->___________________________________________] 38.86% 112 p/s2248 / 5725 [--------------------------->___________________________________________] 39.27% 112 p/s2270 / 5725 [---------------------------->__________________________________________] 39.65% 112 p/s2293 / 5725 [---------------------------->__________________________________________] 40.05% 112 p/s2315 / 5725 [---------------------------->__________________________________________] 40.44% 112 p/s2338 / 5725 [---------------------------->__________________________________________] 40.84% 112 p/s2361 / 5725 [----------------------------->_________________________________________] 41.24% 112 p/s2383 / 5725 [----------------------------->_________________________________________] 41.62% 112 p/s2406 / 5725 [----------------------------->_________________________________________] 42.03% 112 p/s2428 / 5725 [------------------------------>________________________________________] 42.41% 112 p/s2451 / 5725 [------------------------------>________________________________________] 42.81% 112 p/s2473 / 5725 [------------------------------>________________________________________] 43.20% 112 p/s2496 / 5725 [------------------------------>________________________________________] 43.60% 112 p/s2519 / 5725 [------------------------------->_______________________________________] 44.00% 112 p/s2542 / 5725 [------------------------------->_______________________________________] 44.40% 112 p/s2564 / 5725 [------------------------------->_______________________________________] 44.79% 112 p/s2587 / 5725 [-------------------------------->______________________________________] 45.19% 112 p/s2610 / 5725 [-------------------------------->______________________________________] 45.59% 112 p/s2633 / 5725 [-------------------------------->______________________________________] 45.99% 112 p/s2655 / 5725 [-------------------------------->______________________________________] 46.38% 113 p/s2678 / 5725 [--------------------------------->_____________________________________] 46.78% 113 p/s2701 / 5725 [--------------------------------->_____________________________________] 47.18% 113 p/s2724 / 5725 [--------------------------------->_____________________________________] 47.58% 113 p/s2747 / 5725 [---------------------------------->____________________________________] 47.98% 113 p/s2769 / 5725 [---------------------------------->____________________________________] 48.37% 113 p/s2792 / 5725 [---------------------------------->____________________________________] 48.77% 113 p/s2815 / 5725 [---------------------------------->____________________________________] 49.17% 113 p/s2838 / 5725 [----------------------------------->___________________________________] 49.57% 113 p/s2860 / 5725 [----------------------------------->___________________________________] 49.96% 113 p/s2883 / 5725 [----------------------------------->___________________________________] 50.36% 113 p/s2906 / 5725 [------------------------------------>__________________________________] 50.76% 113 p/s2929 / 5725 [------------------------------------>__________________________________] 51.16% 113 p/s2951 / 5725 [------------------------------------>__________________________________] 51.55% 113 p/s2974 / 5725 [------------------------------------>__________________________________] 51.95% 113 p/s2997 / 5725 [------------------------------------->_________________________________] 52.35% 113 p/s3019 / 5725 [------------------------------------->_________________________________] 52.73% 113 p/s3042 / 5725 [------------------------------------->_________________________________] 53.14% 113 p/s3064 / 5725 [------------------------------------->_________________________________] 53.52% 113 p/s3087 / 5725 [-------------------------------------->________________________________] 53.92% 113 p/s3110 / 5725 [-------------------------------------->________________________________] 54.32% 113 p/s3133 / 5725 [-------------------------------------->________________________________] 54.72% 113 p/s3155 / 5725 [--------------------------------------->_______________________________] 55.11% 113 p/s3178 / 5725 [--------------------------------------->_______________________________] 55.51% 113 p/s3201 / 5725 [--------------------------------------->_______________________________] 55.91% 113 p/s3223 / 5725 [--------------------------------------->_______________________________] 56.30% 113 p/s3246 / 5725 [---------------------------------------->______________________________] 56.70% 113 p/s3269 / 5725 [---------------------------------------->______________________________] 57.10% 113 p/s3291 / 5725 [---------------------------------------->______________________________] 57.48% 113 p/s3314 / 5725 [----------------------------------------->_____________________________] 57.89% 113 p/s3336 / 5725 [----------------------------------------->_____________________________] 58.27% 113 p/s3359 / 5725 [----------------------------------------->_____________________________] 58.67% 113 p/s3382 / 5725 [----------------------------------------->_____________________________] 59.07% 113 p/s3404 / 5725 [------------------------------------------>____________________________] 59.46% 113 p/s3427 / 5725 [------------------------------------------>____________________________] 59.86% 113 p/s3449 / 5725 [------------------------------------------>____________________________] 60.24% 113 p/s3472 / 5725 [------------------------------------------->___________________________] 60.65% 113 p/s3495 / 5725 [------------------------------------------->___________________________] 61.05% 113 p/s3518 / 5725 [------------------------------------------->___________________________] 61.45% 113 p/s3540 / 5725 [------------------------------------------->___________________________] 61.83% 113 p/s3562 / 5725 [-------------------------------------------->__________________________] 62.22% 113 p/s3585 / 5725 [-------------------------------------------->__________________________] 62.62% 113 p/s3608 / 5725 [-------------------------------------------->__________________________] 63.02% 113 p/s3630 / 5725 [--------------------------------------------->_________________________] 63.41% 113 p/s3653 / 5725 [--------------------------------------------->_________________________] 63.81% 113 p/s3676 / 5725 [--------------------------------------------->_________________________] 64.21% 113 p/s3698 / 5725 [--------------------------------------------->_________________________] 64.59% 113 p/s3721 / 5725 [---------------------------------------------->________________________] 65.00% 113 p/s3743 / 5725 [---------------------------------------------->________________________] 65.38% 113 p/s3766 / 5725 [---------------------------------------------->________________________] 65.78% 113 p/s3788 / 5725 [---------------------------------------------->________________________] 66.17% 113 p/s3811 / 5725 [----------------------------------------------->_______________________] 66.57% 113 p/s3834 / 5725 [----------------------------------------------->_______________________] 66.97% 113 p/s3856 / 5725 [----------------------------------------------->_______________________] 67.35% 113 p/s3879 / 5725 [------------------------------------------------>______________________] 67.76% 113 p/s3901 / 5725 [------------------------------------------------>______________________] 68.14% 113 p/s3924 / 5725 [------------------------------------------------>______________________] 68.54% 113 p/s3946 / 5725 [------------------------------------------------>______________________] 68.93% 113 p/s3969 / 5725 [------------------------------------------------->_____________________] 69.33% 113 p/s3991 / 5725 [------------------------------------------------->_____________________] 69.71% 113 p/s4013 / 5725 [------------------------------------------------->_____________________] 70.10% 113 p/s4036 / 5725 [-------------------------------------------------->____________________] 70.50% 113 p/s4059 / 5725 [-------------------------------------------------->____________________] 70.90% 113 p/s4081 / 5725 [-------------------------------------------------->____________________] 71.28% 113 p/s4103 / 5725 [-------------------------------------------------->____________________] 71.67% 113 p/s4126 / 5725 [--------------------------------------------------->___________________] 72.07% 113 p/s4148 / 5725 [--------------------------------------------------->___________________] 72.45% 113 p/s4171 / 5725 [--------------------------------------------------->___________________] 72.86% 113 p/s4194 / 5725 [---------------------------------------------------->__________________] 73.26% 113 p/s4216 / 5725 [---------------------------------------------------->__________________] 73.64% 113 p/s4239 / 5725 [---------------------------------------------------->__________________] 74.04% 113 p/s4261 / 5725 [---------------------------------------------------->__________________] 74.43% 113 p/s4284 / 5725 [----------------------------------------------------->_________________] 74.83% 113 p/s4306 / 5725 [----------------------------------------------------->_________________] 75.21% 113 p/s4329 / 5725 [----------------------------------------------------->_________________] 75.62% 113 p/s4352 / 5725 [----------------------------------------------------->_________________] 76.02% 113 p/s4374 / 5725 [------------------------------------------------------>________________] 76.40% 113 p/s4397 / 5725 [------------------------------------------------------>________________] 76.80% 113 p/s4420 / 5725 [------------------------------------------------------>________________] 77.21% 113 p/s4442 / 5725 [------------------------------------------------------->_______________] 77.59% 113 p/s4465 / 5725 [------------------------------------------------------->_______________] 77.99% 113 p/s4487 / 5725 [------------------------------------------------------->_______________] 78.38% 113 p/s4510 / 5725 [------------------------------------------------------->_______________] 78.78% 113 p/s4532 / 5725 [-------------------------------------------------------->______________] 79.16% 113 p/s4555 / 5725 [-------------------------------------------------------->______________] 79.56% 113 p/s4577 / 5725 [-------------------------------------------------------->______________] 79.95% 113 p/s4600 / 5725 [--------------------------------------------------------->_____________] 80.35% 113 p/s4623 / 5725 [--------------------------------------------------------->_____________] 80.75% 113 p/s4645 / 5725 [--------------------------------------------------------->_____________] 81.14% 113 p/s4668 / 5725 [--------------------------------------------------------->_____________] 81.54% 113 p/s4690 / 5725 [---------------------------------------------------------->____________] 81.92% 113 p/s4712 / 5725 [---------------------------------------------------------->____________] 82.31% 113 p/s4735 / 5725 [---------------------------------------------------------->____________] 82.71% 113 p/s4758 / 5725 [----------------------------------------------------------->___________] 83.11% 113 p/s4780 / 5725 [----------------------------------------------------------->___________] 83.49% 113 p/s4802 / 5725 [----------------------------------------------------------->___________] 83.88% 113 p/s4825 / 5725 [----------------------------------------------------------->___________] 84.28% 113 p/s4847 / 5725 [------------------------------------------------------------>__________] 84.66% 113 p/s4870 / 5725 [------------------------------------------------------------>__________] 85.07% 113 p/s4892 / 5725 [------------------------------------------------------------>__________] 85.45% 113 p/s4915 / 5725 [------------------------------------------------------------>__________] 85.85% 113 p/s4938 / 5725 [------------------------------------------------------------->_________] 86.25% 113 p/s4960 / 5725 [------------------------------------------------------------->_________] 86.64% 113 p/s4982 / 5725 [------------------------------------------------------------->_________] 87.02% 113 p/s5005 / 5725 [-------------------------------------------------------------->________] 87.42% 113 p/s5027 / 5725 [-------------------------------------------------------------->________] 87.81% 113 p/s5050 / 5725 [-------------------------------------------------------------->________] 88.21% 113 p/s5072 / 5725 [-------------------------------------------------------------->________] 88.59% 113 p/s5095 / 5725 [--------------------------------------------------------------->_______] 89.00% 113 p/s5117 / 5725 [--------------------------------------------------------------->_______] 89.38% 113 p/s5139 / 5725 [--------------------------------------------------------------->_______] 89.76% 113 p/s5162 / 5725 [---------------------------------------------------------------->______] 90.17% 113 p/s5184 / 5725 [---------------------------------------------------------------->______] 90.55% 113 p/s5207 / 5725 [---------------------------------------------------------------->______] 90.95% 113 p/s5230 / 5725 [---------------------------------------------------------------->______] 91.35% 113 p/s5252 / 5725 [----------------------------------------------------------------->_____] 91.74% 113 p/s5275 / 5725 [----------------------------------------------------------------->_____] 92.14% 113 p/s5297 / 5725 [----------------------------------------------------------------->_____] 92.52% 113 p/s5320 / 5725 [----------------------------------------------------------------->_____] 92.93% 113 p/s5342 / 5725 [------------------------------------------------------------------>____] 93.31% 113 p/s5365 / 5725 [------------------------------------------------------------------>____] 93.71% 113 p/s5387 / 5725 [------------------------------------------------------------------>____] 94.10% 113 p/s5410 / 5725 [------------------------------------------------------------------->___] 94.50% 113 p/s5432 / 5725 [------------------------------------------------------------------->___] 94.88% 113 p/s5454 / 5725 [------------------------------------------------------------------->___] 95.27% 113 p/s5477 / 5725 [------------------------------------------------------------------->___] 95.67% 113 p/s5499 / 5725 [-------------------------------------------------------------------->__] 96.05% 113 p/s5522 / 5725 [-------------------------------------------------------------------->__] 96.45% 113 p/s5544 / 5725 [-------------------------------------------------------------------->__] 96.84% 113 p/s5567 / 5725 [--------------------------------------------------------------------->_] 97.24% 113 p/s5589 / 5725 [--------------------------------------------------------------------->_] 97.62% 113 p/s5611 / 5725 [--------------------------------------------------------------------->_] 98.01% 113 p/s5634 / 5725 [--------------------------------------------------------------------->_] 98.41% 113 p/s5656 / 5725 [---------------------------------------------------------------------->] 98.79% 113 p/s5678 / 5725 [---------------------------------------------------------------------->] 99.18% 113 p/s5701 / 5725 [---------------------------------------------------------------------->] 99.58% 112 p/s5723 / 5725 [---------------------------------------------------------------------->] 99.97% 112 p/s5725 / 5725 [----------------------------------------------------------------------] 100.00% 113 p/s2026-02-26T07:13:38 - INFO: Parsing 5725 sonar sweeps from /working/a6118df3-7573-c262-c796-239ab98ebc33/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/5725 [00:00<?, ?it/s]
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  2%|▏         | 87/5725 [00:03<03:25, 27.47it/s]
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2026-02-26T07:17:20 - 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 --sonar-flip /working/a6118df3-7573-c262-c796-239ab98ebc33/a6118df3-7573-c262-c796-239ab98ebc33"
2026-02-26T07:17:21 - INFO: DataPrep 0.14.0a5
2026-02-26T07:17:21 - INFO: Prepared data will be output to /working/a6118df3-7573-c262-c796-239ab98ebc33/a6118df3-7573-c262-c796-239ab98ebc33/processing/data
2026-02-26T07:17:21 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-02-26T07:17:21 - deployment - INFO: Detected P3D version: P3D_1
2026-02-26T07:17:21 - INFO: Recording GUID: a6118df3-7573-c262-c796-239ab98ebc33
2026-02-26T07:17:21 - INFO: Preparing sonar data...
2026-02-26T07:17:21 - INFO: /working/a6118df3-7573-c262-c796-239ab98ebc33/a6118df3-7573-c262-c796-239ab98ebc33/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-02-26T07:17:26 - INFO: Sonar epoch is 2026-01-14 16:11:46.977297+00:00 (1768407106977296754)
2026-02-26T07:17:26 - INFO: Sonar configured speed of sound was 1500 m/s
2026-02-26T07:17:26 - INFO: Sonar range is 0.939120 m
2026-02-26T07:17:26 - INFO: Speed of sound is 1494 m/s
2026-02-26T07:17:26 - INFO: Processing 5725 sweeps...

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2026-02-26T07:17:42 - INFO: Creating sonar sensor alignment track...
2026-02-26T07:17:49 - INFO: Prepared sonar data in 27.5212 s
2026-02-26T07:17:49 - INFO: No IMU data found
2026-02-26T07:17:50 - INFO: DataPrep took 0:00:28.362910
2026-02-26T07:17:50 - INFO: Extracted sonar data in 0:05:02.153114
2026-02-26T07:17:50 - INFO: MSIP3D took 0:05:02.705277