+ [ true = true ]
+ echo --counter
+ [ false = true ]
+ echo --no-video
+ [ false = true ]
+ echo --no-laser
+ [ true = true ]
+ echo --sonar
+ python -m msip3d -v -f --write-result --result-path /working/result.json --counter --no-video --no-laser --sonar --sonar-sample-offset -1 /working/ee7cdc54-5ea6-1a44-ffa9-cb969bc10308
2026-06-30T09:05:02 - INFO: MSIP3D 0.2.8
2026-06-30T09:05:02 - INFO: P3D files will be output to /working/ee7cdc54-5ea6-1a44-ffa9-cb969bc10308/ee7cdc54-5ea6-1a44-ffa9-cb969bc10308
2026-06-30T09:05:02 - INFO: Found 10 TFD dictionary entries
2026-06-30T09:05:02 - INFO: Found TFD mission for SJ502847 DEP 1
2026-06-30T09:05:02 - INFO: Recording will be processed as MD
2026-06-30T09:05:02 - INFO: Copying assets JSON to output directory...
2026-06-30T09:05:02 - INFO: Preparing counter data...
2026-06-30T09:05:02 - INFO: Interpreting counter as imperial
2026-06-30T09:05:02 - INFO: Preparing size track from assets JSON...
2026-06-30T09:05:02 - INFO: Preparing shape track from assets JSON...
2026-06-30T09:05:02 - INFO: Preparing material track from assets JSON...
2026-06-30T09:05:02 - INFO: Prepared counter data in 0.1678 s
2026-06-30T09:05:02 - INFO: Extracting sonar data...
TFD path: /working/ee7cdc54-5ea6-1a44-ffa9-cb969bc10308/tfd/SJ502847_DEP_1.tfd
TFD path: /working/ee7cdc54-5ea6-1a44-ffa9-cb969bc10308/tfd/output
Name: LASER, Tag: 4855215974206753356
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855215974206753347
Name: SONAR, Tag: 6012079240663880375
Getting track SONAR
Number of frames: 5512
22 / 5512 [>___________________________________________________________________________] 0.40% ? p/s45 / 5512 [>___________________________________________________________________________] 0.82% ? p/s67 / 5512 [>___________________________________________________________________________] 1.22% ? p/s90 / 5512 [->________________________________________________________________________] 1.63% 113 p/s112 / 5512 [->_______________________________________________________________________] 2.03% 113 p/s135 / 5512 [->_______________________________________________________________________] 2.45% 113 p/s156 / 5512 [-->______________________________________________________________________] 2.83% 113 p/s179 / 5512 [-->______________________________________________________________________] 3.25% 113 p/s202 / 5512 [-->______________________________________________________________________] 3.66% 113 p/s223 / 5512 [-->______________________________________________________________________] 4.05% 113 p/s246 / 5512 [--->_____________________________________________________________________] 4.46% 113 p/s268 / 5512 [--->_____________________________________________________________________] 4.86% 113 p/s291 / 5512 [--->_____________________________________________________________________] 5.28% 113 p/s314 / 5512 [---->____________________________________________________________________] 5.70% 113 p/s337 / 5512 [---->____________________________________________________________________] 6.11% 113 p/s360 / 5512 [---->____________________________________________________________________] 6.53% 113 p/s382 / 5512 [----->___________________________________________________________________] 6.93% 113 p/s405 / 5512 [----->___________________________________________________________________] 7.35% 113 p/s428 / 5512 [----->___________________________________________________________________] 7.76% 113 p/s451 / 5512 [----->___________________________________________________________________] 8.18% 113 p/s474 / 5512 [------>__________________________________________________________________] 8.60% 113 p/s497 / 5512 [------>__________________________________________________________________] 9.02% 113 p/s519 / 5512 [------>__________________________________________________________________] 9.42% 113 p/s542 / 5512 [------->_________________________________________________________________] 9.83% 113 p/s564 / 5512 [------->________________________________________________________________] 10.23% 113 p/s588 / 5512 [------->________________________________________________________________] 10.67% 113 p/s611 / 5512 [------->________________________________________________________________] 11.08% 113 p/s634 / 5512 [-------->_______________________________________________________________] 11.50% 113 p/s657 / 5512 [-------->_______________________________________________________________] 11.92% 113 p/s680 / 5512 [-------->_______________________________________________________________] 12.34% 113 p/s703 / 5512 [--------->______________________________________________________________] 12.75% 114 p/s726 / 5512 [--------->______________________________________________________________] 13.17% 114 p/s748 / 5512 [--------->______________________________________________________________] 13.57% 114 p/s771 / 5512 [---------->_____________________________________________________________] 13.99% 114 p/s794 / 5512 [---------->_____________________________________________________________] 14.40% 114 p/s817 / 5512 [---------->_____________________________________________________________] 14.82% 114 p/s840 / 5512 [---------->_____________________________________________________________] 15.24% 114 p/s864 / 5512 [----------->____________________________________________________________] 15.67% 114 p/s887 / 5512 [----------->____________________________________________________________] 16.09% 114 p/s910 / 5512 [----------->____________________________________________________________] 16.51% 114 p/s933 / 5512 [------------>___________________________________________________________] 16.93% 114 p/s955 / 5512 [------------>___________________________________________________________] 17.33% 114 p/s978 / 5512 [------------>___________________________________________________________] 17.74% 114 p/s1001 / 5512 [------------>__________________________________________________________] 18.16% 114 p/s1023 / 5512 [------------->_________________________________________________________] 18.56% 114 p/s1046 / 5512 [------------->_________________________________________________________] 18.98% 114 p/s1069 / 5512 [------------->_________________________________________________________] 19.39% 114 p/s1092 / 5512 [-------------->________________________________________________________] 19.81% 114 p/s1115 / 5512 [-------------->________________________________________________________] 20.23% 114 p/s1139 / 5512 [-------------->________________________________________________________] 20.66% 114 p/s1162 / 5512 [-------------->________________________________________________________] 21.08% 114 p/s1185 / 5512 [--------------->_______________________________________________________] 21.50% 114 p/s1208 / 5512 [--------------->_______________________________________________________] 21.92% 114 p/s1231 / 5512 [--------------->_______________________________________________________] 22.33% 114 p/s1254 / 5512 [---------------->______________________________________________________] 22.75% 114 p/s1277 / 5512 [---------------->______________________________________________________] 23.17% 114 p/s1301 / 5512 [---------------->______________________________________________________] 23.60% 114 p/s1324 / 5512 [----------------->_____________________________________________________] 24.02% 114 p/s1347 / 5512 [----------------->_____________________________________________________] 24.44% 114 p/s1370 / 5512 [----------------->_____________________________________________________] 24.85% 114 p/s1393 / 5512 [----------------->_____________________________________________________] 25.27% 114 p/s1416 / 5512 [------------------>____________________________________________________] 25.69% 114 p/s1439 / 5512 [------------------>____________________________________________________] 26.11% 114 p/s1463 / 5512 [------------------>____________________________________________________] 26.54% 114 p/s1486 / 5512 [------------------->___________________________________________________] 26.96% 114 p/s1509 / 5512 [------------------->___________________________________________________] 27.38% 114 p/s1532 / 5512 [------------------->___________________________________________________] 27.79% 114 p/s1555 / 5512 [-------------------->__________________________________________________] 28.21% 114 p/s1578 / 5512 [-------------------->__________________________________________________] 28.63% 114 p/s1601 / 5512 [-------------------->__________________________________________________] 29.05% 115 p/s1625 / 5512 [-------------------->__________________________________________________] 29.48% 115 p/s1648 / 5512 [--------------------->_________________________________________________] 29.90% 115 p/s1671 / 5512 [--------------------->_________________________________________________] 30.32% 115 p/s1694 / 5512 [--------------------->_________________________________________________] 30.73% 115 p/s1717 / 5512 [---------------------->________________________________________________] 31.15% 115 p/s1740 / 5512 [---------------------->________________________________________________] 31.57% 115 p/s1763 / 5512 [---------------------->________________________________________________] 31.98% 115 p/s1787 / 5512 [----------------------->_______________________________________________] 32.42% 115 p/s1809 / 5512 [----------------------->_______________________________________________] 32.82% 115 p/s1833 / 5512 [----------------------->_______________________________________________] 33.25% 115 p/s1856 / 5512 [----------------------->_______________________________________________] 33.67% 115 p/s1879 / 5512 [------------------------>______________________________________________] 34.09% 115 p/s1902 / 5512 [------------------------>______________________________________________] 34.51% 115 p/s1925 / 5512 [------------------------>______________________________________________] 34.92% 115 p/s1948 / 5512 [------------------------->_____________________________________________] 35.34% 115 p/s1971 / 5512 [------------------------->_____________________________________________] 35.76% 115 p/s1993 / 5512 [------------------------->_____________________________________________] 36.16% 115 p/s2016 / 5512 [------------------------->_____________________________________________] 36.57% 115 p/s2038 / 5512 [-------------------------->____________________________________________] 36.97% 115 p/s2061 / 5512 [-------------------------->____________________________________________] 37.39% 115 p/s2084 / 5512 [-------------------------->____________________________________________] 37.81% 115 p/s2107 / 5512 [--------------------------->___________________________________________] 38.23% 115 p/s2129 / 5512 [--------------------------->___________________________________________] 38.62% 115 p/s2152 / 5512 [--------------------------->___________________________________________] 39.04% 115 p/s2174 / 5512 [---------------------------->__________________________________________] 39.44% 115 p/s2197 / 5512 [---------------------------->__________________________________________] 39.86% 115 p/s2220 / 5512 [---------------------------->__________________________________________] 40.28% 114 p/s2235 / 5512 [---------------------------->__________________________________________] 40.55% 114 p/s2258 / 5512 [----------------------------->_________________________________________] 40.97% 114 p/s2281 / 5512 [----------------------------->_________________________________________] 41.38% 114 p/s2304 / 5512 [----------------------------->_________________________________________] 41.80% 114 p/s2327 / 5512 [----------------------------->_________________________________________] 42.22% 114 p/s2350 / 5512 [------------------------------>________________________________________] 42.63% 114 p/s2373 / 5512 [------------------------------>________________________________________] 43.05% 114 p/s2396 / 5512 [------------------------------>________________________________________] 43.47% 114 p/s2419 / 5512 [------------------------------->_______________________________________] 43.89% 114 p/s2443 / 5512 [------------------------------->_______________________________________] 44.32% 114 p/s2466 / 5512 [------------------------------->_______________________________________] 44.74% 114 p/s2489 / 5512 [-------------------------------->______________________________________] 45.16% 114 p/s2512 / 5512 [-------------------------------->______________________________________] 45.57% 114 p/s2535 / 5512 [-------------------------------->______________________________________] 45.99% 114 p/s2558 / 5512 [-------------------------------->______________________________________] 46.41% 114 p/s2581 / 5512 [--------------------------------->_____________________________________] 46.83% 114 p/s2603 / 5512 [--------------------------------->_____________________________________] 47.22% 114 p/s2626 / 5512 [--------------------------------->_____________________________________] 47.64% 114 p/s2649 / 5512 [---------------------------------->____________________________________] 48.06% 114 p/s2672 / 5512 [---------------------------------->____________________________________] 48.48% 114 p/s2695 / 5512 [---------------------------------->____________________________________] 48.89% 114 p/s2719 / 5512 [----------------------------------->___________________________________] 49.33% 114 p/s2742 / 5512 [----------------------------------->___________________________________] 49.75% 114 p/s2765 / 5512 [----------------------------------->___________________________________] 50.16% 114 p/s2789 / 5512 [----------------------------------->___________________________________] 50.60% 114 p/s2812 / 5512 [------------------------------------>__________________________________] 51.02% 114 p/s2835 / 5512 [------------------------------------>__________________________________] 51.43% 114 p/s2859 / 5512 [------------------------------------>__________________________________] 51.87% 114 p/s2882 / 5512 [------------------------------------->_________________________________] 52.29% 114 p/s2906 / 5512 [------------------------------------->_________________________________] 52.72% 115 p/s2929 / 5512 [------------------------------------->_________________________________] 53.14% 115 p/s2953 / 5512 [-------------------------------------->________________________________] 53.57% 115 p/s2976 / 5512 [-------------------------------------->________________________________] 53.99% 115 p/s3000 / 5512 [-------------------------------------->________________________________] 54.43% 115 p/s3024 / 5512 [-------------------------------------->________________________________] 54.86% 115 p/s3047 / 5512 [--------------------------------------->_______________________________] 55.28% 115 p/s3071 / 5512 [--------------------------------------->_______________________________] 55.71% 115 p/s3095 / 5512 [--------------------------------------->_______________________________] 56.15% 115 p/s3118 / 5512 [---------------------------------------->______________________________] 56.57% 115 p/s3142 / 5512 [---------------------------------------->______________________________] 57.00% 115 p/s3165 / 5512 [---------------------------------------->______________________________] 57.42% 115 p/s3188 / 5512 [----------------------------------------->_____________________________] 57.84% 115 p/s3212 / 5512 [----------------------------------------->_____________________________] 58.27% 115 p/s3235 / 5512 [----------------------------------------->_____________________________] 58.69% 115 p/s3258 / 5512 [----------------------------------------->_____________________________] 59.11% 115 p/s3282 / 5512 [------------------------------------------>____________________________] 59.54% 115 p/s3305 / 5512 [------------------------------------------>____________________________] 59.96% 115 p/s3328 / 5512 [------------------------------------------>____________________________] 60.38% 115 p/s3351 / 5512 [------------------------------------------->___________________________] 60.79% 115 p/s3375 / 5512 [------------------------------------------->___________________________] 61.23% 115 p/s3398 / 5512 [------------------------------------------->___________________________] 61.65% 116 p/s3422 / 5512 [-------------------------------------------->__________________________] 62.08% 116 p/s3445 / 5512 [-------------------------------------------->__________________________] 62.50% 116 p/s3469 / 5512 [-------------------------------------------->__________________________] 62.94% 116 p/s3492 / 5512 [-------------------------------------------->__________________________] 63.35% 116 p/s3516 / 5512 [--------------------------------------------->_________________________] 63.79% 116 p/s3539 / 5512 [--------------------------------------------->_________________________] 64.21% 116 p/s3562 / 5512 [--------------------------------------------->_________________________] 64.62% 116 p/s3586 / 5512 [---------------------------------------------->________________________] 65.06% 116 p/s3609 / 5512 [---------------------------------------------->________________________] 65.48% 116 p/s3632 / 5512 [---------------------------------------------->________________________] 65.89% 116 p/s3655 / 5512 [----------------------------------------------->_______________________] 66.31% 116 p/s3679 / 5512 [----------------------------------------------->_______________________] 66.75% 116 p/s3702 / 5512 [----------------------------------------------->_______________________] 67.16% 116 p/s3725 / 5512 [----------------------------------------------->_______________________] 67.58% 116 p/s3748 / 5512 [------------------------------------------------>______________________] 68.00% 116 p/s3772 / 5512 [------------------------------------------------>______________________] 68.43% 116 p/s3795 / 5512 [------------------------------------------------>______________________] 68.85% 116 p/s3818 / 5512 [------------------------------------------------->_____________________] 69.27% 116 p/s3841 / 5512 [------------------------------------------------->_____________________] 69.68% 116 p/s3864 / 5512 [------------------------------------------------->_____________________] 70.10% 116 p/s3887 / 5512 [-------------------------------------------------->____________________] 70.52% 116 p/s3910 / 5512 [-------------------------------------------------->____________________] 70.94% 116 p/s3933 / 5512 [-------------------------------------------------->____________________] 71.35% 116 p/s3956 / 5512 [-------------------------------------------------->____________________] 71.77% 116 p/s3980 / 5512 [--------------------------------------------------->___________________] 72.21% 116 p/s4003 / 5512 [--------------------------------------------------->___________________] 72.62% 116 p/s4026 / 5512 [--------------------------------------------------->___________________] 73.04% 116 p/s4049 / 5512 [---------------------------------------------------->__________________] 73.46% 116 p/s4072 / 5512 [---------------------------------------------------->__________________] 73.88% 116 p/s4094 / 5512 [---------------------------------------------------->__________________] 74.27% 116 p/s4117 / 5512 [----------------------------------------------------->_________________] 74.69% 116 p/s4140 / 5512 [----------------------------------------------------->_________________] 75.11% 116 p/s4163 / 5512 [----------------------------------------------------->_________________] 75.53% 116 p/s4186 / 5512 [----------------------------------------------------->_________________] 75.94% 116 p/s4209 / 5512 [------------------------------------------------------>________________] 76.36% 116 p/s4232 / 5512 [------------------------------------------------------>________________] 76.78% 116 p/s4255 / 5512 [------------------------------------------------------>________________] 77.20% 116 p/s4278 / 5512 [------------------------------------------------------->_______________] 77.61% 116 p/s4301 / 5512 [------------------------------------------------------->_______________] 78.03% 116 p/s4324 / 5512 [------------------------------------------------------->_______________] 78.45% 116 p/s4346 / 5512 [------------------------------------------------------->_______________] 78.85% 116 p/s4369 / 5512 [-------------------------------------------------------->______________] 79.26% 115 p/s4392 / 5512 [-------------------------------------------------------->______________] 79.68% 115 p/s4415 / 5512 [-------------------------------------------------------->______________] 80.10% 115 p/s4438 / 5512 [--------------------------------------------------------->_____________] 80.52% 115 p/s4460 / 5512 [--------------------------------------------------------->_____________] 80.91% 115 p/s4483 / 5512 [--------------------------------------------------------->_____________] 81.33% 115 p/s4506 / 5512 [---------------------------------------------------------->____________] 81.75% 115 p/s4529 / 5512 [---------------------------------------------------------->____________] 82.17% 115 p/s4552 / 5512 [---------------------------------------------------------->____________] 82.58% 115 p/s4575 / 5512 [---------------------------------------------------------->____________] 83.00% 115 p/s4597 / 5512 [----------------------------------------------------------->___________] 83.40% 115 p/s4620 / 5512 [----------------------------------------------------------->___________] 83.82% 115 p/s4643 / 5512 [----------------------------------------------------------->___________] 84.23% 115 p/s4666 / 5512 [------------------------------------------------------------>__________] 84.65% 115 p/s4688 / 5512 [------------------------------------------------------------>__________] 85.05% 115 p/s4711 / 5512 [------------------------------------------------------------>__________] 85.47% 115 p/s4734 / 5512 [------------------------------------------------------------>__________] 85.89% 115 p/s4757 / 5512 [------------------------------------------------------------->_________] 86.30% 115 p/s4780 / 5512 [------------------------------------------------------------->_________] 86.72% 115 p/s4803 / 5512 [------------------------------------------------------------->_________] 87.14% 115 p/s4826 / 5512 [-------------------------------------------------------------->________] 87.55% 115 p/s4849 / 5512 [-------------------------------------------------------------->________] 87.97% 115 p/s4871 / 5512 [-------------------------------------------------------------->________] 88.37% 115 p/s4894 / 5512 [--------------------------------------------------------------->_______] 88.79% 115 p/s4917 / 5512 [--------------------------------------------------------------->_______] 89.21% 115 p/s4940 / 5512 [--------------------------------------------------------------->_______] 89.62% 115 p/s4962 / 5512 [--------------------------------------------------------------->_______] 90.02% 115 p/s4985 / 5512 [---------------------------------------------------------------->______] 90.44% 115 p/s5008 / 5512 [---------------------------------------------------------------->______] 90.86% 115 p/s5031 / 5512 [---------------------------------------------------------------->______] 91.27% 115 p/s5054 / 5512 [----------------------------------------------------------------->_____] 91.69% 115 p/s5076 / 5512 [----------------------------------------------------------------->_____] 92.09% 115 p/s5099 / 5512 [----------------------------------------------------------------->_____] 92.51% 115 p/s5122 / 5512 [----------------------------------------------------------------->_____] 92.92% 115 p/s5145 / 5512 [------------------------------------------------------------------>____] 93.34% 115 p/s5168 / 5512 [------------------------------------------------------------------>____] 93.76% 115 p/s5189 / 5512 [------------------------------------------------------------------>____] 94.14% 115 p/s5212 / 5512 [------------------------------------------------------------------->___] 94.56% 115 p/s5235 / 5512 [------------------------------------------------------------------->___] 94.97% 115 p/s5258 / 5512 [------------------------------------------------------------------->___] 95.39% 115 p/s5281 / 5512 [-------------------------------------------------------------------->__] 95.81% 115 p/s5304 / 5512 [-------------------------------------------------------------------->__] 96.23% 115 p/s5327 / 5512 [-------------------------------------------------------------------->__] 96.64% 115 p/s5350 / 5512 [-------------------------------------------------------------------->__] 97.06% 115 p/s5374 / 5512 [--------------------------------------------------------------------->_] 97.50% 115 p/s5397 / 5512 [--------------------------------------------------------------------->_] 97.91% 115 p/s5421 / 5512 [--------------------------------------------------------------------->_] 98.35% 115 p/s5445 / 5512 [---------------------------------------------------------------------->] 98.78% 115 p/s5468 / 5512 [---------------------------------------------------------------------->] 99.20% 115 p/s5492 / 5512 [---------------------------------------------------------------------->] 99.64% 115 p/s5512 / 5512 [----------------------------------------------------------------------] 100.00% 115 p/s2026-06-30T09:05:50 - INFO: Parsing 5512 sonar sweeps from /working/ee7cdc54-5ea6-1a44-ffa9-cb969bc10308/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/5512 [00:00<?, ?it/s]
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2026-06-30T09:09:09 - WARNING: Expected 400 beams, got 168, dropping sweep 5511
2026-06-30T09:09:09 - 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 --sonar-distance-threshold 60 --sonar-sample-offset -1 /working/ee7cdc54-5ea6-1a44-ffa9-cb969bc10308/ee7cdc54-5ea6-1a44-ffa9-cb969bc10308"
2026-06-30T09:09:11 - INFO: DataPrep 0.14.7
2026-06-30T09:09:11 - INFO: Prepared data will be output to /working/ee7cdc54-5ea6-1a44-ffa9-cb969bc10308/ee7cdc54-5ea6-1a44-ffa9-cb969bc10308/processing/data
2026-06-30T09:09:11 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-06-30T09:09:11 - deployment - INFO: Detected P3D version: P3D_1
2026-06-30T09:09:11 - INFO: Recording GUID: ee7cdc54-5ea6-1a44-ffa9-cb969bc10308
2026-06-30T09:09:11 - INFO: Preparing sonar data...
2026-06-30T09:09:11 - INFO: /working/ee7cdc54-5ea6-1a44-ffa9-cb969bc10308/ee7cdc54-5ea6-1a44-ffa9-cb969bc10308/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-06-30T09:09:16 - INFO: Sonar epoch is 2026-04-20 20:18:27.329469+00:00 (1776716307329468750)
2026-06-30T09:09:16 - INFO: Creating sonar sensor alignment track...
2026-06-30T09:09:16 - INFO: Using sonar rotation of 0.541052 radians for wedge mask
2026-06-30T09:09:16 - INFO: Sensor speed of sound is 1500 m/s
2026-06-30T09:09:16 - INFO: Sensor range is 0.939120 m
2026-06-30T09:09:16 - INFO: Sensor micrometres per sample is 3119.999982
2026-06-30T09:09:16 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-06-30T09:09:16 - INFO: Scaled range is 0.935669 m
2026-06-30T09:09:16 - INFO: Scaled micrometres per sample is 3108.536247
2026-06-30T09:09:16 - INFO: Processing 5511 sweeps...

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2026-06-30T09:09:26 - INFO: Prepared sonar data in 15.3624 s
2026-06-30T09:09:26 - INFO: No IMU data found
2026-06-30T09:09:26 - INFO: DataPrep took 0:00:15.900339
2026-06-30T09:09:27 - INFO: Extracted sonar data in 0:04:24.216050
2026-06-30T09:09:27 - INFO: MSIP3D took 0:04:24.874631