2026-03-03T05:33:48 - INFO: MSIP3D 0.2.0a10
2026-03-03T05:33:48 - INFO: P3D files will be output to /working/df5cf81d-2415-ac96-13d6-d24e1da5c2fb/df5cf81d-2415-ac96-13d6-d24e1da5c2fb
2026-03-03T05:33:48 - INFO: Found 10 TFD dictionary entries
2026-03-03T05:33:48 - INFO: Found TFD mission for SJ502795 Dep 11
2026-03-03T05:33:48 - INFO: Recording will be processed as MD
2026-03-03T05:33:48 - INFO: Copying assets JSON to output directory...
2026-03-03T05:33:48 - INFO: Preparing counter data...
2026-03-03T05:33:48 - INFO: Interpreting counter as imperial
2026-03-03T05:33:48 - INFO: Preparing size track from assets JSON...
2026-03-03T05:33:48 - INFO: Preparing shape track from assets JSON...
2026-03-03T05:33:48 - INFO: Preparing material track from assets JSON...
2026-03-03T05:33:48 - INFO: Prepared counter data in 0.1316 s
2026-03-03T05:33:48 - 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: Dictionary, Tag: 18446744073709551615
Name: SONAR, Tag: 6012080331585573559
Name: LASER, Tag: 4855221467469924940
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: MISSION_FILE, Tag: 5073671569755687501
Getting track SONAR
Number of frames: 5789
21 / 5789 [>___________________________________________________________________________] 0.36% ? p/s44 / 5789 [>___________________________________________________________________________] 0.76% ? p/s65 / 5789 [>___________________________________________________________________________] 1.12% ? p/s86 / 5789 [->________________________________________________________________________] 1.49% 108 p/s107 / 5789 [->_______________________________________________________________________] 1.85% 108 p/s128 / 5789 [->_______________________________________________________________________] 2.21% 108 p/s150 / 5789 [->_______________________________________________________________________] 2.59% 108 p/s172 / 5789 [-->______________________________________________________________________] 2.97% 108 p/s193 / 5789 [-->______________________________________________________________________] 3.33% 108 p/s214 / 5789 [-->______________________________________________________________________] 3.70% 108 p/s234 / 5789 [-->______________________________________________________________________] 4.04% 108 p/s256 / 5789 [--->_____________________________________________________________________] 4.42% 108 p/s279 / 5789 [--->_____________________________________________________________________] 4.82% 108 p/s300 / 5789 [--->_____________________________________________________________________] 5.18% 108 p/s323 / 5789 [---->____________________________________________________________________] 5.58% 108 p/s344 / 5789 [---->____________________________________________________________________] 5.94% 108 p/s367 / 5789 [---->____________________________________________________________________] 6.34% 108 p/s390 / 5789 [---->____________________________________________________________________] 6.74% 108 p/s411 / 5789 [----->___________________________________________________________________] 7.10% 108 p/s432 / 5789 [----->___________________________________________________________________] 7.46% 108 p/s455 / 5789 [----->___________________________________________________________________] 7.86% 108 p/s477 / 5789 [------>__________________________________________________________________] 8.24% 109 p/s500 / 5789 [------>__________________________________________________________________] 8.64% 109 p/s522 / 5789 [------>__________________________________________________________________] 9.02% 109 p/s543 / 5789 [------>__________________________________________________________________] 9.38% 109 p/s566 / 5789 [------->_________________________________________________________________] 9.78% 109 p/s588 / 5789 [------->________________________________________________________________] 10.16% 109 p/s610 / 5789 [------->________________________________________________________________] 10.54% 109 p/s631 / 5789 [------->________________________________________________________________] 10.90% 109 p/s654 / 5789 [-------->_______________________________________________________________] 11.30% 109 p/s676 / 5789 [-------->_______________________________________________________________] 11.68% 109 p/s698 / 5789 [-------->_______________________________________________________________] 12.06% 109 p/s718 / 5789 [-------->_______________________________________________________________] 12.40% 109 p/s739 / 5789 [--------->______________________________________________________________] 12.77% 109 p/s760 / 5789 [--------->______________________________________________________________] 13.13% 109 p/s780 / 5789 [--------->______________________________________________________________] 13.47% 109 p/s802 / 5789 [--------->______________________________________________________________] 13.85% 108 p/s824 / 5789 [---------->_____________________________________________________________] 14.23% 108 p/s845 / 5789 [---------->_____________________________________________________________] 14.60% 108 p/s867 / 5789 [---------->_____________________________________________________________] 14.98% 108 p/s887 / 5789 [----------->____________________________________________________________] 15.32% 108 p/s910 / 5789 [----------->____________________________________________________________] 15.72% 108 p/s932 / 5789 [----------->____________________________________________________________] 16.10% 108 p/s955 / 5789 [----------->____________________________________________________________] 16.50% 108 p/s977 / 5789 [------------>___________________________________________________________] 16.88% 108 p/s1000 / 5789 [------------>__________________________________________________________] 17.27% 109 p/s1021 / 5789 [------------>__________________________________________________________] 17.64% 109 p/s1042 / 5789 [------------>__________________________________________________________] 18.00% 109 p/s1062 / 5789 [------------->_________________________________________________________] 18.35% 108 p/s1085 / 5789 [------------->_________________________________________________________] 18.74% 108 p/s1107 / 5789 [------------->_________________________________________________________] 19.12% 108 p/s1129 / 5789 [------------->_________________________________________________________] 19.50% 109 p/s1152 / 5789 [-------------->________________________________________________________] 19.90% 109 p/s1175 / 5789 [-------------->________________________________________________________] 20.30% 109 p/s1195 / 5789 [-------------->________________________________________________________] 20.64% 109 p/s1217 / 5789 [-------------->________________________________________________________] 21.02% 109 p/s1239 / 5789 [--------------->_______________________________________________________] 21.40% 109 p/s1260 / 5789 [--------------->_______________________________________________________] 21.77% 109 p/s1282 / 5789 [--------------->_______________________________________________________] 22.15% 109 p/s1304 / 5789 [--------------->_______________________________________________________] 22.53% 109 p/s1326 / 5789 [---------------->______________________________________________________] 22.91% 109 p/s1349 / 5789 [---------------->______________________________________________________] 23.30% 109 p/s1372 / 5789 [---------------->______________________________________________________] 23.70% 109 p/s1393 / 5789 [----------------->_____________________________________________________] 24.06% 109 p/s1415 / 5789 [----------------->_____________________________________________________] 24.44% 109 p/s1437 / 5789 [----------------->_____________________________________________________] 24.82% 109 p/s1459 / 5789 [----------------->_____________________________________________________] 25.20% 109 p/s1481 / 5789 [------------------>____________________________________________________] 25.58% 109 p/s1502 / 5789 [------------------>____________________________________________________] 25.95% 109 p/s1525 / 5789 [------------------>____________________________________________________] 26.34% 109 p/s1546 / 5789 [------------------>____________________________________________________] 26.71% 109 p/s1567 / 5789 [------------------->___________________________________________________] 27.07% 109 p/s1590 / 5789 [------------------->___________________________________________________] 27.47% 109 p/s1612 / 5789 [------------------->___________________________________________________] 27.85% 109 p/s1634 / 5789 [-------------------->__________________________________________________] 28.23% 109 p/s1657 / 5789 [-------------------->__________________________________________________] 28.62% 109 p/s1678 / 5789 [-------------------->__________________________________________________] 28.99% 109 p/s1701 / 5789 [-------------------->__________________________________________________] 29.38% 109 p/s1723 / 5789 [--------------------->_________________________________________________] 29.76% 109 p/s1746 / 5789 [--------------------->_________________________________________________] 30.16% 109 p/s1767 / 5789 [--------------------->_________________________________________________] 30.52% 109 p/s1789 / 5789 [--------------------->_________________________________________________] 30.90% 109 p/s1811 / 5789 [---------------------->________________________________________________] 31.28% 109 p/s1833 / 5789 [---------------------->________________________________________________] 31.66% 109 p/s1854 / 5789 [---------------------->________________________________________________] 32.03% 109 p/s1875 / 5789 [---------------------->________________________________________________] 32.39% 109 p/s1896 / 5789 [----------------------->_______________________________________________] 32.75% 109 p/s1919 / 5789 [----------------------->_______________________________________________] 33.15% 109 p/s1939 / 5789 [----------------------->_______________________________________________] 33.49% 109 p/s1961 / 5789 [------------------------>______________________________________________] 33.87% 109 p/s1981 / 5789 [------------------------>______________________________________________] 34.22% 109 p/s2004 / 5789 [------------------------>______________________________________________] 34.62% 109 p/s2026 / 5789 [------------------------>______________________________________________] 35.00% 109 p/s2048 / 5789 [------------------------->_____________________________________________] 35.38% 109 p/s2069 / 5789 [------------------------->_____________________________________________] 35.74% 109 p/s2091 / 5789 [------------------------->_____________________________________________] 36.12% 109 p/s2114 / 5789 [------------------------->_____________________________________________] 36.52% 109 p/s2136 / 5789 [-------------------------->____________________________________________] 36.90% 109 p/s2158 / 5789 [-------------------------->____________________________________________] 37.28% 109 p/s2179 / 5789 [-------------------------->____________________________________________] 37.64% 109 p/s2202 / 5789 [--------------------------->___________________________________________] 38.04% 109 p/s2223 / 5789 [--------------------------->___________________________________________] 38.40% 109 p/s2245 / 5789 [--------------------------->___________________________________________] 38.78% 109 p/s2266 / 5789 [--------------------------->___________________________________________] 39.14% 109 p/s2289 / 5789 [---------------------------->__________________________________________] 39.54% 109 p/s2309 / 5789 [---------------------------->__________________________________________] 39.89% 109 p/s2330 / 5789 [---------------------------->__________________________________________] 40.25% 109 p/s2352 / 5789 [---------------------------->__________________________________________] 40.63% 109 p/s2373 / 5789 [----------------------------->_________________________________________] 40.99% 109 p/s2395 / 5789 [----------------------------->_________________________________________] 41.37% 109 p/s2415 / 5789 [----------------------------->_________________________________________] 41.72% 109 p/s2437 / 5789 [----------------------------->_________________________________________] 42.10% 109 p/s2459 / 5789 [------------------------------>________________________________________] 42.48% 109 p/s2482 / 5789 [------------------------------>________________________________________] 42.87% 109 p/s2504 / 5789 [------------------------------>________________________________________] 43.25% 109 p/s2527 / 5789 [------------------------------>________________________________________] 43.65% 109 p/s2549 / 5789 [------------------------------->_______________________________________] 44.03% 109 p/s2570 / 5789 [------------------------------->_______________________________________] 44.39% 109 p/s2591 / 5789 [------------------------------->_______________________________________] 44.76% 109 p/s2613 / 5789 [-------------------------------->______________________________________] 45.14% 109 p/s2636 / 5789 [-------------------------------->______________________________________] 45.53% 109 p/s2657 / 5789 [-------------------------------->______________________________________] 45.90% 109 p/s2679 / 5789 [-------------------------------->______________________________________] 46.28% 109 p/s2701 / 5789 [--------------------------------->_____________________________________] 46.66% 109 p/s2724 / 5789 [--------------------------------->_____________________________________] 47.05% 109 p/s2746 / 5789 [--------------------------------->_____________________________________] 47.43% 109 p/s2768 / 5789 [--------------------------------->_____________________________________] 47.81% 109 p/s2791 / 5789 [---------------------------------->____________________________________] 48.21% 109 p/s2811 / 5789 [---------------------------------->____________________________________] 48.56% 109 p/s2833 / 5789 [---------------------------------->____________________________________] 48.94% 109 p/s2855 / 5789 [----------------------------------->___________________________________] 49.32% 109 p/s2878 / 5789 [----------------------------------->___________________________________] 49.71% 109 p/s2901 / 5789 [----------------------------------->___________________________________] 50.11% 109 p/s2921 / 5789 [----------------------------------->___________________________________] 50.46% 109 p/s2943 / 5789 [------------------------------------>__________________________________] 50.84% 109 p/s2965 / 5789 [------------------------------------>__________________________________] 51.22% 109 p/s2986 / 5789 [------------------------------------>__________________________________] 51.58% 109 p/s3008 / 5789 [------------------------------------>__________________________________] 51.96% 109 p/s3030 / 5789 [------------------------------------->_________________________________] 52.34% 109 p/s3050 / 5789 [------------------------------------->_________________________________] 52.69% 109 p/s3073 / 5789 [------------------------------------->_________________________________] 53.08% 109 p/s3096 / 5789 [------------------------------------->_________________________________] 53.48% 109 p/s3116 / 5789 [-------------------------------------->________________________________] 53.83% 109 p/s3138 / 5789 [-------------------------------------->________________________________] 54.21% 109 p/s3159 / 5789 [-------------------------------------->________________________________] 54.57% 109 p/s3181 / 5789 [--------------------------------------->_______________________________] 54.95% 109 p/s3203 / 5789 [--------------------------------------->_______________________________] 55.33% 109 p/s3225 / 5789 [--------------------------------------->_______________________________] 55.71% 109 p/s3247 / 5789 [--------------------------------------->_______________________________] 56.09% 109 p/s3269 / 5789 [---------------------------------------->______________________________] 56.47% 109 p/s3287 / 5789 [---------------------------------------->______________________________] 56.78% 109 p/s3309 / 5789 [---------------------------------------->______________________________] 57.16% 109 p/s3331 / 5789 [---------------------------------------->______________________________] 57.54% 109 p/s3354 / 5789 [----------------------------------------->_____________________________] 57.94% 109 p/s3375 / 5789 [----------------------------------------->_____________________________] 58.30% 109 p/s3396 / 5789 [----------------------------------------->_____________________________] 58.66% 109 p/s3418 / 5789 [----------------------------------------->_____________________________] 59.04% 109 p/s3440 / 5789 [------------------------------------------>____________________________] 59.42% 109 p/s3461 / 5789 [------------------------------------------>____________________________] 59.79% 109 p/s3484 / 5789 [------------------------------------------>____________________________] 60.18% 109 p/s3505 / 5789 [------------------------------------------>____________________________] 60.55% 109 p/s3528 / 5789 [------------------------------------------->___________________________] 60.94% 109 p/s3550 / 5789 [------------------------------------------->___________________________] 61.32% 109 p/s3572 / 5789 [------------------------------------------->___________________________] 61.70% 109 p/s3595 / 5789 [-------------------------------------------->__________________________] 62.10% 109 p/s3617 / 5789 [-------------------------------------------->__________________________] 62.48% 109 p/s3638 / 5789 [-------------------------------------------->__________________________] 62.84% 109 p/s3660 / 5789 [-------------------------------------------->__________________________] 63.22% 109 p/s3681 / 5789 [--------------------------------------------->_________________________] 63.59% 109 p/s3703 / 5789 [--------------------------------------------->_________________________] 63.97% 109 p/s3725 / 5789 [--------------------------------------------->_________________________] 64.35% 109 p/s3748 / 5789 [--------------------------------------------->_________________________] 64.74% 109 p/s3770 / 5789 [---------------------------------------------->________________________] 65.12% 109 p/s3792 / 5789 [---------------------------------------------->________________________] 65.50% 109 p/s3815 / 5789 [---------------------------------------------->________________________] 65.90% 109 p/s3836 / 5789 [----------------------------------------------->_______________________] 66.26% 109 p/s3858 / 5789 [----------------------------------------------->_______________________] 66.64% 109 p/s3880 / 5789 [----------------------------------------------->_______________________] 67.02% 109 p/s3901 / 5789 [----------------------------------------------->_______________________] 67.39% 109 p/s3923 / 5789 [------------------------------------------------>______________________] 67.77% 109 p/s3945 / 5789 [------------------------------------------------>______________________] 68.15% 109 p/s3966 / 5789 [------------------------------------------------>______________________] 68.51% 109 p/s3989 / 5789 [------------------------------------------------>______________________] 68.91% 109 p/s4009 / 5789 [------------------------------------------------->_____________________] 69.25% 109 p/s4030 / 5789 [------------------------------------------------->_____________________] 69.61% 109 p/s4053 / 5789 [------------------------------------------------->_____________________] 70.01% 109 p/s4076 / 5789 [------------------------------------------------->_____________________] 70.41% 109 p/s4095 / 5789 [-------------------------------------------------->____________________] 70.74% 109 p/s4118 / 5789 [-------------------------------------------------->____________________] 71.13% 109 p/s4140 / 5789 [-------------------------------------------------->____________________] 71.51% 109 p/s4161 / 5789 [--------------------------------------------------->___________________] 71.88% 109 p/s4182 / 5789 [--------------------------------------------------->___________________] 72.24% 109 p/s4205 / 5789 [--------------------------------------------------->___________________] 72.64% 109 p/s4227 / 5789 [--------------------------------------------------->___________________] 73.02% 109 p/s4250 / 5789 [---------------------------------------------------->__________________] 73.42% 109 p/s4273 / 5789 [---------------------------------------------------->__________________] 73.81% 109 p/s4295 / 5789 [---------------------------------------------------->__________________] 74.19% 109 p/s4316 / 5789 [---------------------------------------------------->__________________] 74.56% 109 p/s4336 / 5789 [----------------------------------------------------->_________________] 74.90% 109 p/s4357 / 5789 [----------------------------------------------------->_________________] 75.26% 109 p/s4380 / 5789 [----------------------------------------------------->_________________] 75.66% 109 p/s4401 / 5789 [----------------------------------------------------->_________________] 76.02% 109 p/s4423 / 5789 [------------------------------------------------------>________________] 76.40% 109 p/s4445 / 5789 [------------------------------------------------------>________________] 76.78% 109 p/s4468 / 5789 [------------------------------------------------------>________________] 77.18% 109 p/s4490 / 5789 [------------------------------------------------------->_______________] 77.56% 109 p/s4513 / 5789 [------------------------------------------------------->_______________] 77.96% 109 p/s4534 / 5789 [------------------------------------------------------->_______________] 78.32% 109 p/s4557 / 5789 [------------------------------------------------------->_______________] 78.72% 109 p/s4576 / 5789 [-------------------------------------------------------->______________] 79.05% 109 p/s4598 / 5789 [-------------------------------------------------------->______________] 79.43% 109 p/s4621 / 5789 [-------------------------------------------------------->______________] 79.82% 109 p/s4644 / 5789 [-------------------------------------------------------->______________] 80.22% 109 p/s4665 / 5789 [--------------------------------------------------------->_____________] 80.58% 109 p/s4686 / 5789 [--------------------------------------------------------->_____________] 80.95% 109 p/s4708 / 5789 [--------------------------------------------------------->_____________] 81.33% 109 p/s4730 / 5789 [---------------------------------------------------------->____________] 81.71% 109 p/s4752 / 5789 [---------------------------------------------------------->____________] 82.09% 109 p/s4772 / 5789 [---------------------------------------------------------->____________] 82.43% 109 p/s4794 / 5789 [---------------------------------------------------------->____________] 82.81% 109 p/s4816 / 5789 [----------------------------------------------------------->___________] 83.19% 109 p/s4838 / 5789 [----------------------------------------------------------->___________] 83.57% 109 p/s4861 / 5789 [----------------------------------------------------------->___________] 83.97% 109 p/s4881 / 5789 [----------------------------------------------------------->___________] 84.32% 109 p/s4903 / 5789 [------------------------------------------------------------>__________] 84.70% 109 p/s4926 / 5789 [------------------------------------------------------------>__________] 85.09% 109 p/s4948 / 5789 [------------------------------------------------------------>__________] 85.47% 109 p/s4969 / 5789 [------------------------------------------------------------>__________] 85.84% 109 p/s4991 / 5789 [------------------------------------------------------------->_________] 86.22% 109 p/s5014 / 5789 [------------------------------------------------------------->_________] 86.61% 109 p/s5036 / 5789 [------------------------------------------------------------->_________] 86.99% 109 p/s5058 / 5789 [-------------------------------------------------------------->________] 87.37% 109 p/s5080 / 5789 [-------------------------------------------------------------->________] 87.75% 109 p/s5102 / 5789 [-------------------------------------------------------------->________] 88.13% 109 p/s5123 / 5789 [-------------------------------------------------------------->________] 88.50% 109 p/s5144 / 5789 [--------------------------------------------------------------->_______] 88.86% 109 p/s5162 / 5789 [--------------------------------------------------------------->_______] 89.17% 109 p/s5185 / 5789 [--------------------------------------------------------------->_______] 89.57% 109 p/s5207 / 5789 [--------------------------------------------------------------->_______] 89.95% 109 p/s5228 / 5789 [---------------------------------------------------------------->______] 90.31% 109 p/s5250 / 5789 [---------------------------------------------------------------->______] 90.69% 109 p/s5272 / 5789 [---------------------------------------------------------------->______] 91.07% 109 p/s5294 / 5789 [---------------------------------------------------------------->______] 91.45% 109 p/s5315 / 5789 [----------------------------------------------------------------->_____] 91.81% 109 p/s5336 / 5789 [----------------------------------------------------------------->_____] 92.17% 109 p/s5357 / 5789 [----------------------------------------------------------------->_____] 92.54% 109 p/s5380 / 5789 [----------------------------------------------------------------->_____] 92.93% 109 p/s5402 / 5789 [------------------------------------------------------------------>____] 93.31% 109 p/s5424 / 5789 [------------------------------------------------------------------>____] 93.69% 109 p/s5446 / 5789 [------------------------------------------------------------------>____] 94.07% 109 p/s5468 / 5789 [------------------------------------------------------------------->___] 94.46% 109 p/s5491 / 5789 [------------------------------------------------------------------->___] 94.85% 109 p/s5513 / 5789 [------------------------------------------------------------------->___] 95.23% 109 p/s5535 / 5789 [------------------------------------------------------------------->___] 95.61% 109 p/s5557 / 5789 [-------------------------------------------------------------------->__] 95.99% 109 p/s5579 / 5789 [-------------------------------------------------------------------->__] 96.37% 109 p/s5600 / 5789 [-------------------------------------------------------------------->__] 96.74% 109 p/s5620 / 5789 [-------------------------------------------------------------------->__] 97.08% 109 p/s5643 / 5789 [--------------------------------------------------------------------->_] 97.48% 109 p/s5665 / 5789 [--------------------------------------------------------------------->_] 97.86% 109 p/s5686 / 5789 [--------------------------------------------------------------------->_] 98.22% 109 p/s5709 / 5789 [---------------------------------------------------------------------->] 98.62% 109 p/s5731 / 5789 [---------------------------------------------------------------------->] 99.00% 109 p/s5753 / 5789 [---------------------------------------------------------------------->] 99.38% 109 p/s5775 / 5789 [---------------------------------------------------------------------->] 99.76% 109 p/s5789 / 5789 [----------------------------------------------------------------------] 100.00% 109 p/s2026-03-03T05:34:42 - INFO: Parsing 5789 sonar sweeps from /working/df5cf81d-2415-ac96-13d6-d24e1da5c2fb/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-03T05:38:12 - 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/df5cf81d-2415-ac96-13d6-d24e1da5c2fb/df5cf81d-2415-ac96-13d6-d24e1da5c2fb"
2026-03-03T05:38:13 - INFO: DataPrep 0.14.0a6
2026-03-03T05:38:13 - INFO: Prepared data will be output to /working/df5cf81d-2415-ac96-13d6-d24e1da5c2fb/df5cf81d-2415-ac96-13d6-d24e1da5c2fb/processing/data
2026-03-03T05:38:13 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-03T05:38:13 - deployment - INFO: Detected P3D version: P3D_1
2026-03-03T05:38:13 - INFO: Recording GUID: df5cf81d-2415-ac96-13d6-d24e1da5c2fb
2026-03-03T05:38:13 - INFO: Preparing sonar data...
2026-03-03T05:38:13 - INFO: /working/df5cf81d-2415-ac96-13d6-d24e1da5c2fb/df5cf81d-2415-ac96-13d6-d24e1da5c2fb/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-03T05:38:19 - INFO: Sonar epoch is 2026-01-12 14:17:13.407005+00:00 (1768227433407004650)
2026-03-03T05:38:19 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-03T05:38:19 - INFO: Sonar range is 0.939120 m
2026-03-03T05:38:19 - INFO: Speed of sound is 1494 m/s
2026-03-03T05:38:19 - INFO: Processing 5789 sweeps...

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2026-03-03T05:38:35 - INFO: Creating sonar sensor alignment track...
2026-03-03T05:38:40 - INFO: Prepared sonar data in 26.5088 s
2026-03-03T05:38:40 - INFO: No IMU data found
2026-03-03T05:38:41 - INFO: DataPrep took 0:00:27.331411
2026-03-03T05:38:41 - INFO: Extracted sonar data in 0:04:52.512683
2026-03-03T05:38:41 - INFO: MSIP3D took 0:04:53.166910