+ [ 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/78ef1280-4335-22ea-17e4-734902e4de18
2026-07-10T06:25:41 - INFO: MSIP3D 0.2.8
2026-07-10T06:25:42 - INFO: P3D files will be output to /working/78ef1280-4335-22ea-17e4-734902e4de18/78ef1280-4335-22ea-17e4-734902e4de18
2026-07-10T06:25:42 - INFO: Found 11 TFD dictionary entries
2026-07-10T06:25:42 - INFO: Found TFD mission for DSSIN055-DSSIN046
2026-07-10T06:25:42 - INFO: Recording will be processed as SMD
2026-07-10T06:25:42 - INFO: Copying assets JSON to output directory...
2026-07-10T06:25:42 - INFO: Preparing counter data...
2026-07-10T06:25:42 - INFO: Interpreting counter as metric
2026-07-10T06:25:42 - INFO: Preparing size track from assets JSON...
2026-07-10T06:25:42 - INFO: Preparing shape track from assets JSON...
2026-07-10T06:25:42 - INFO: Preparing material track from assets JSON...
2026-07-10T06:25:42 - INFO: Prepared counter data in 0.5405 s
2026-07-10T06:25:42 - INFO: Extracting sonar data...
TFD path: /working/78ef1280-4335-22ea-17e4-734902e4de18/tfd/DSSIN055-DSSIN046.tfd
TFD path: /working/78ef1280-4335-22ea-17e4-734902e4de18/tfd/output
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720644
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079240663880375
Name: Dictionary, Tag: 18446744073709551615
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: CCTV, Tag: 4855215978501720643
Getting track SONAR
Number of frames: 9729
19 / 9729 [>___________________________________________________________________________] 0.20% ? p/s38 / 9729 [>___________________________________________________________________________] 0.39% ? p/s58 / 9729 [>___________________________________________________________________________] 0.60% ? p/s78 / 9729 [>__________________________________________________________________________] 0.80% 98 p/s99 / 9729 [>__________________________________________________________________________] 1.02% 98 p/s117 / 9729 [>_________________________________________________________________________] 1.20% 98 p/s137 / 9729 [->________________________________________________________________________] 1.41% 98 p/s155 / 9729 [->________________________________________________________________________] 1.59% 98 p/s174 / 9729 [->________________________________________________________________________] 1.79% 98 p/s195 / 9729 [->________________________________________________________________________] 2.00% 98 p/s213 / 9729 [->________________________________________________________________________] 2.19% 98 p/s234 / 9729 [->________________________________________________________________________] 2.41% 98 p/s253 / 9729 [->________________________________________________________________________] 2.60% 98 p/s273 / 9729 [-->_______________________________________________________________________] 2.81% 98 p/s293 / 9729 [-->_______________________________________________________________________] 3.01% 98 p/s314 / 9729 [-->_______________________________________________________________________] 3.23% 98 p/s334 / 9729 [-->_______________________________________________________________________] 3.43% 98 p/s355 / 9729 [-->_______________________________________________________________________] 3.65% 98 p/s375 / 9729 [-->_______________________________________________________________________] 3.85% 98 p/s395 / 9729 [--->______________________________________________________________________] 4.06% 98 p/s415 / 9729 [--->______________________________________________________________________] 4.27% 98 p/s436 / 9729 [--->______________________________________________________________________] 4.48% 99 p/s456 / 9729 [--->______________________________________________________________________] 4.69% 99 p/s477 / 9729 [--->______________________________________________________________________] 4.90% 99 p/s497 / 9729 [--->______________________________________________________________________] 5.11% 99 p/s516 / 9729 [--->______________________________________________________________________] 5.30% 99 p/s537 / 9729 [---->_____________________________________________________________________] 5.52% 99 p/s557 / 9729 [---->_____________________________________________________________________] 5.73% 99 p/s577 / 9729 [---->_____________________________________________________________________] 5.93% 99 p/s598 / 9729 [---->_____________________________________________________________________] 6.15% 99 p/s618 / 9729 [---->_____________________________________________________________________] 6.35% 99 p/s637 / 9729 [---->_____________________________________________________________________] 6.55% 99 p/s657 / 9729 [---->_____________________________________________________________________] 6.75% 99 p/s678 / 9729 [----->____________________________________________________________________] 6.97% 99 p/s698 / 9729 [----->____________________________________________________________________] 7.17% 99 p/s718 / 9729 [----->____________________________________________________________________] 7.38% 99 p/s738 / 9729 [----->____________________________________________________________________] 7.59% 99 p/s759 / 9729 [----->____________________________________________________________________] 7.80% 99 p/s779 / 9729 [----->____________________________________________________________________] 8.01% 99 p/s799 / 9729 [------>___________________________________________________________________] 8.21% 99 p/s819 / 9729 [------>___________________________________________________________________] 8.42% 99 p/s840 / 9729 [------>___________________________________________________________________] 8.63% 99 p/s860 / 9729 [------>__________________________________________________________________] 8.84% 100 p/s880 / 9729 [------>__________________________________________________________________] 9.05% 100 p/s901 / 9729 [------>__________________________________________________________________] 9.26% 100 p/s921 / 9729 [------>__________________________________________________________________] 9.47% 100 p/s941 / 9729 [------->_________________________________________________________________] 9.67% 100 p/s961 / 9729 [------->_________________________________________________________________] 9.88% 100 p/s982 / 9729 [------->________________________________________________________________] 10.09% 100 p/s1002 / 9729 [------->_______________________________________________________________] 10.30% 100 p/s1022 / 9729 [------->_______________________________________________________________] 10.50% 100 p/s1042 / 9729 [------->_______________________________________________________________] 10.71% 100 p/s1062 / 9729 [------->_______________________________________________________________] 10.92% 100 p/s1082 / 9729 [------->_______________________________________________________________] 11.12% 100 p/s1103 / 9729 [-------->______________________________________________________________] 11.34% 100 p/s1123 / 9729 [-------->______________________________________________________________] 11.54% 100 p/s1143 / 9729 [-------->______________________________________________________________] 11.75% 100 p/s1164 / 9729 [-------->______________________________________________________________] 11.96% 100 p/s1184 / 9729 [-------->______________________________________________________________] 12.17% 100 p/s1204 / 9729 [-------->______________________________________________________________] 12.38% 100 p/s1225 / 9729 [-------->______________________________________________________________] 12.59% 100 p/s1245 / 9729 [--------->_____________________________________________________________] 12.80% 100 p/s1265 / 9729 [--------->_____________________________________________________________] 13.00% 100 p/s1286 / 9729 [--------->_____________________________________________________________] 13.22% 100 p/s1306 / 9729 [--------->_____________________________________________________________] 13.42% 100 p/s1326 / 9729 [--------->_____________________________________________________________] 13.63% 100 p/s1347 / 9729 [--------->_____________________________________________________________] 13.85% 100 p/s1367 / 9729 [--------->_____________________________________________________________] 14.05% 100 p/s1387 / 9729 [---------->____________________________________________________________] 14.26% 100 p/s1407 / 9729 [---------->____________________________________________________________] 14.46% 100 p/s1428 / 9729 [---------->____________________________________________________________] 14.68% 100 p/s1448 / 9729 [---------->____________________________________________________________] 14.88% 100 p/s1468 / 9729 [---------->____________________________________________________________] 15.09% 100 p/s1489 / 9729 [---------->____________________________________________________________] 15.30% 100 p/s1509 / 9729 [----------->___________________________________________________________] 15.51% 100 p/s1530 / 9729 [----------->___________________________________________________________] 15.73% 101 p/s1550 / 9729 [----------->___________________________________________________________] 15.93% 101 p/s1570 / 9729 [----------->___________________________________________________________] 16.14% 101 p/s1591 / 9729 [----------->___________________________________________________________] 16.35% 101 p/s1610 / 9729 [----------->___________________________________________________________] 16.55% 101 p/s1630 / 9729 [----------->___________________________________________________________] 16.75% 101 p/s1651 / 9729 [------------>__________________________________________________________] 16.97% 101 p/s1671 / 9729 [------------>__________________________________________________________] 17.18% 101 p/s1691 / 9729 [------------>__________________________________________________________] 17.38% 101 p/s1712 / 9729 [------------>__________________________________________________________] 17.60% 101 p/s1732 / 9729 [------------>__________________________________________________________] 17.80% 101 p/s1752 / 9729 [------------>__________________________________________________________] 18.01% 101 p/s1773 / 9729 [------------>__________________________________________________________] 18.22% 101 p/s1793 / 9729 [------------->_________________________________________________________] 18.43% 101 p/s1813 / 9729 [------------->_________________________________________________________] 18.64% 101 p/s1834 / 9729 [------------->_________________________________________________________] 18.85% 101 p/s1854 / 9729 [------------->_________________________________________________________] 19.06% 101 p/s1874 / 9729 [------------->_________________________________________________________] 19.26% 101 p/s1894 / 9729 [------------->_________________________________________________________] 19.47% 101 p/s1915 / 9729 [------------->_________________________________________________________] 19.68% 101 p/s1935 / 9729 [-------------->________________________________________________________] 19.89% 101 p/s1955 / 9729 [-------------->________________________________________________________] 20.09% 101 p/s1975 / 9729 [-------------->________________________________________________________] 20.30% 101 p/s1995 / 9729 [-------------->________________________________________________________] 20.51% 101 p/s2016 / 9729 [-------------->________________________________________________________] 20.72% 101 p/s2036 / 9729 [-------------->________________________________________________________] 20.93% 101 p/s2055 / 9729 [-------------->________________________________________________________] 21.12% 101 p/s2075 / 9729 [--------------->_______________________________________________________] 21.33% 101 p/s2095 / 9729 [--------------->_______________________________________________________] 21.53% 101 p/s2114 / 9729 [--------------->_______________________________________________________] 21.73% 101 p/s2134 / 9729 [--------------->_______________________________________________________] 21.93% 101 p/s2155 / 9729 [--------------->_______________________________________________________] 22.15% 101 p/s2175 / 9729 [--------------->_______________________________________________________] 22.36% 101 p/s2195 / 9729 [---------------->______________________________________________________] 22.56% 101 p/s2215 / 9729 [---------------->______________________________________________________] 22.77% 101 p/s2235 / 9729 [---------------->______________________________________________________] 22.97% 101 p/s2256 / 9729 [---------------->______________________________________________________] 23.19% 101 p/s2276 / 9729 [---------------->______________________________________________________] 23.39% 101 p/s2296 / 9729 [---------------->______________________________________________________] 23.60% 101 p/s2316 / 9729 [---------------->______________________________________________________] 23.81% 101 p/s2337 / 9729 [----------------->_____________________________________________________] 24.02% 101 p/s2355 / 9729 [----------------->_____________________________________________________] 24.21% 101 p/s2375 / 9729 [----------------->_____________________________________________________] 24.41% 101 p/s2395 / 9729 [----------------->_____________________________________________________] 24.62% 101 p/s2416 / 9729 [----------------->_____________________________________________________] 24.83% 101 p/s2436 / 9729 [----------------->_____________________________________________________] 25.04% 101 p/s2456 / 9729 [----------------->_____________________________________________________] 25.24% 101 p/s2477 / 9729 [------------------>____________________________________________________] 25.46% 101 p/s2497 / 9729 [------------------>____________________________________________________] 25.67% 101 p/s2517 / 9729 [------------------>____________________________________________________] 25.87% 101 p/s2538 / 9729 [------------------>____________________________________________________] 26.09% 101 p/s2558 / 9729 [------------------>____________________________________________________] 26.29% 101 p/s2578 / 9729 [------------------>____________________________________________________] 26.50% 101 p/s2599 / 9729 [------------------>____________________________________________________] 26.71% 101 p/s2619 / 9729 [------------------->___________________________________________________] 26.92% 101 p/s2639 / 9729 [------------------->___________________________________________________] 27.13% 101 p/s2659 / 9729 [------------------->___________________________________________________] 27.33% 101 p/s2680 / 9729 [------------------->___________________________________________________] 27.55% 101 p/s2700 / 9729 [------------------->___________________________________________________] 27.75% 101 p/s2720 / 9729 [------------------->___________________________________________________] 27.96% 101 p/s2737 / 9729 [------------------->___________________________________________________] 28.13% 100 p/s2756 / 9729 [-------------------->__________________________________________________] 28.33% 100 p/s2776 / 9729 [-------------------->__________________________________________________] 28.53% 100 p/s2796 / 9729 [-------------------->__________________________________________________] 28.74% 100 p/s2815 / 9729 [-------------------->__________________________________________________] 28.93% 100 p/s2835 / 9729 [-------------------->__________________________________________________] 29.14% 100 p/s2856 / 9729 [-------------------->__________________________________________________] 29.36% 100 p/s2876 / 9729 [-------------------->__________________________________________________] 29.56% 100 p/s2896 / 9729 [--------------------->_________________________________________________] 29.77% 100 p/s2917 / 9729 [--------------------->_________________________________________________] 29.98% 100 p/s2937 / 9729 [--------------------->_________________________________________________] 30.19% 100 p/s2957 / 9729 [--------------------->_________________________________________________] 30.39% 100 p/s2977 / 9729 [--------------------->_________________________________________________] 30.60% 100 p/s2997 / 9729 [--------------------->_________________________________________________] 30.80% 100 p/s3017 / 9729 [---------------------->________________________________________________] 31.01% 100 p/s3038 / 9729 [---------------------->________________________________________________] 31.23% 100 p/s3058 / 9729 [---------------------->________________________________________________] 31.43% 100 p/s3078 / 9729 [---------------------->________________________________________________] 31.64% 100 p/s3098 / 9729 [---------------------->________________________________________________] 31.84% 100 p/s3119 / 9729 [---------------------->________________________________________________] 32.06% 100 p/s3139 / 9729 [---------------------->________________________________________________] 32.26% 100 p/s3159 / 9729 [----------------------->_______________________________________________] 32.47% 100 p/s3180 / 9729 [----------------------->_______________________________________________] 32.69% 100 p/s3200 / 9729 [----------------------->_______________________________________________] 32.89% 100 p/s3220 / 9729 [----------------------->_______________________________________________] 33.10% 101 p/s3240 / 9729 [----------------------->_______________________________________________] 33.30% 101 p/s3261 / 9729 [----------------------->_______________________________________________] 33.52% 101 p/s3281 / 9729 [----------------------->_______________________________________________] 33.72% 101 p/s3301 / 9729 [------------------------>______________________________________________] 33.93% 101 p/s3321 / 9729 [------------------------>______________________________________________] 34.14% 101 p/s3342 / 9729 [------------------------>______________________________________________] 34.35% 101 p/s3362 / 9729 [------------------------>______________________________________________] 34.56% 101 p/s3382 / 9729 [------------------------>______________________________________________] 34.76% 101 p/s3403 / 9729 [------------------------>______________________________________________] 34.98% 101 p/s3423 / 9729 [------------------------>______________________________________________] 35.18% 101 p/s3443 / 9729 [------------------------->_____________________________________________] 35.39% 101 p/s3463 / 9729 [------------------------->_____________________________________________] 35.59% 101 p/s3484 / 9729 [------------------------->_____________________________________________] 35.81% 101 p/s3504 / 9729 [------------------------->_____________________________________________] 36.02% 101 p/s3524 / 9729 [------------------------->_____________________________________________] 36.22% 101 p/s3545 / 9729 [------------------------->_____________________________________________] 36.44% 101 p/s3565 / 9729 [-------------------------->____________________________________________] 36.64% 101 p/s3585 / 9729 [-------------------------->____________________________________________] 36.85% 101 p/s3606 / 9729 [-------------------------->____________________________________________] 37.06% 101 p/s3626 / 9729 [-------------------------->____________________________________________] 37.27% 101 p/s3646 / 9729 [-------------------------->____________________________________________] 37.48% 101 p/s3666 / 9729 [-------------------------->____________________________________________] 37.68% 101 p/s3687 / 9729 [-------------------------->____________________________________________] 37.90% 101 p/s3707 / 9729 [--------------------------->___________________________________________] 38.10% 101 p/s3727 / 9729 [--------------------------->___________________________________________] 38.31% 101 p/s3746 / 9729 [--------------------------->___________________________________________] 38.50% 101 p/s3767 / 9729 [--------------------------->___________________________________________] 38.72% 101 p/s3787 / 9729 [--------------------------->___________________________________________] 38.92% 101 p/s3807 / 9729 [--------------------------->___________________________________________] 39.13% 101 p/s3828 / 9729 [--------------------------->___________________________________________] 39.35% 101 p/s3848 / 9729 [---------------------------->__________________________________________] 39.55% 101 p/s3869 / 9729 [---------------------------->__________________________________________] 39.77% 101 p/s3889 / 9729 [---------------------------->__________________________________________] 39.97% 101 p/s3909 / 9729 [---------------------------->__________________________________________] 40.18% 101 p/s3929 / 9729 [---------------------------->__________________________________________] 40.38% 101 p/s3949 / 9729 [---------------------------->__________________________________________] 40.59% 101 p/s3970 / 9729 [---------------------------->__________________________________________] 40.81% 101 p/s3990 / 9729 [----------------------------->_________________________________________] 41.01% 101 p/s4011 / 9729 [----------------------------->_________________________________________] 41.23% 101 p/s4030 / 9729 [----------------------------->_________________________________________] 41.42% 101 p/s4051 / 9729 [----------------------------->_________________________________________] 41.64% 101 p/s4071 / 9729 [----------------------------->_________________________________________] 41.84% 101 p/s4091 / 9729 [----------------------------->_________________________________________] 42.05% 101 p/s4111 / 9729 [------------------------------>________________________________________] 42.26% 101 p/s4132 / 9729 [------------------------------>________________________________________] 42.47% 101 p/s4152 / 9729 [------------------------------>________________________________________] 42.68% 101 p/s4172 / 9729 [------------------------------>________________________________________] 42.88% 101 p/s4193 / 9729 [------------------------------>________________________________________] 43.10% 101 p/s4213 / 9729 [------------------------------>________________________________________] 43.30% 101 p/s4233 / 9729 [------------------------------>________________________________________] 43.51% 101 p/s4253 / 9729 [------------------------------->_______________________________________] 43.71% 101 p/s4274 / 9729 [------------------------------->_______________________________________] 43.93% 101 p/s4292 / 9729 [------------------------------->_______________________________________] 44.12% 101 p/s4312 / 9729 [------------------------------->_______________________________________] 44.32% 101 p/s4332 / 9729 [------------------------------->_______________________________________] 44.53% 101 p/s4353 / 9729 [------------------------------->_______________________________________] 44.74% 101 p/s4373 / 9729 [------------------------------->_______________________________________] 44.95% 101 p/s4393 / 9729 [-------------------------------->______________________________________] 45.15% 101 p/s4413 / 9729 [-------------------------------->______________________________________] 45.36% 101 p/s4434 / 9729 [-------------------------------->______________________________________] 45.58% 101 p/s4454 / 9729 [-------------------------------->______________________________________] 45.78% 101 p/s4474 / 9729 [-------------------------------->______________________________________] 45.99% 101 p/s4494 / 9729 [-------------------------------->______________________________________] 46.19% 101 p/s4515 / 9729 [-------------------------------->______________________________________] 46.41% 101 p/s4534 / 9729 [--------------------------------->_____________________________________] 46.60% 101 p/s4553 / 9729 [--------------------------------->_____________________________________] 46.80% 101 p/s4573 / 9729 [--------------------------------->_____________________________________] 47.00% 101 p/s4594 / 9729 [--------------------------------->_____________________________________] 47.22% 101 p/s4614 / 9729 [--------------------------------->_____________________________________] 47.43% 101 p/s4634 / 9729 [--------------------------------->_____________________________________] 47.63% 101 p/s4654 / 9729 [--------------------------------->_____________________________________] 47.84% 101 p/s4675 / 9729 [---------------------------------->____________________________________] 48.05% 101 p/s4695 / 9729 [---------------------------------->____________________________________] 48.26% 101 p/s4715 / 9729 [---------------------------------->____________________________________] 48.46% 101 p/s4736 / 9729 [---------------------------------->____________________________________] 48.68% 101 p/s4756 / 9729 [---------------------------------->____________________________________] 48.88% 101 p/s4777 / 9729 [---------------------------------->____________________________________] 49.10% 101 p/s4797 / 9729 [----------------------------------->___________________________________] 49.31% 101 p/s4817 / 9729 [----------------------------------->___________________________________] 49.51% 101 p/s4837 / 9729 [----------------------------------->___________________________________] 49.72% 101 p/s4857 / 9729 [----------------------------------->___________________________________] 49.92% 101 p/s4878 / 9729 [----------------------------------->___________________________________] 50.14% 101 p/s4898 / 9729 [----------------------------------->___________________________________] 50.34% 101 p/s4918 / 9729 [----------------------------------->___________________________________] 50.55% 101 p/s4936 / 9729 [------------------------------------>__________________________________] 50.73% 101 p/s4956 / 9729 [------------------------------------>__________________________________] 50.94% 101 p/s4977 / 9729 [------------------------------------>__________________________________] 51.16% 101 p/s4997 / 9729 [------------------------------------>__________________________________] 51.36% 101 p/s5017 / 9729 [------------------------------------>__________________________________] 51.57% 101 p/s5036 / 9729 [------------------------------------>__________________________________] 51.76% 101 p/s5056 / 9729 [------------------------------------>__________________________________] 51.97% 101 p/s5077 / 9729 [------------------------------------->_________________________________] 52.18% 101 p/s5097 / 9729 [------------------------------------->_________________________________] 52.39% 101 p/s5117 / 9729 [------------------------------------->_________________________________] 52.60% 101 p/s5138 / 9729 [------------------------------------->_________________________________] 52.81% 101 p/s5158 / 9729 [------------------------------------->_________________________________] 53.02% 101 p/s5178 / 9729 [------------------------------------->_________________________________] 53.22% 101 p/s5198 / 9729 [------------------------------------->_________________________________] 53.43% 101 p/s5218 / 9729 [-------------------------------------->________________________________] 53.63% 101 p/s5239 / 9729 [-------------------------------------->________________________________] 53.85% 101 p/s5259 / 9729 [-------------------------------------->________________________________] 54.05% 101 p/s5279 / 9729 [-------------------------------------->________________________________] 54.26% 101 p/s5300 / 9729 [-------------------------------------->________________________________] 54.48% 101 p/s5320 / 9729 [-------------------------------------->________________________________] 54.68% 101 p/s5340 / 9729 [-------------------------------------->________________________________] 54.89% 101 p/s5360 / 9729 [--------------------------------------->_______________________________] 55.09% 101 p/s5381 / 9729 [--------------------------------------->_______________________________] 55.31% 101 p/s5401 / 9729 [--------------------------------------->_______________________________] 55.51% 101 p/s5421 / 9729 [--------------------------------------->_______________________________] 55.72% 101 p/s5441 / 9729 [--------------------------------------->_______________________________] 55.93% 101 p/s5462 / 9729 [--------------------------------------->_______________________________] 56.14% 101 p/s5482 / 9729 [---------------------------------------->______________________________] 56.35% 101 p/s5503 / 9729 [---------------------------------------->______________________________] 56.56% 101 p/s5523 / 9729 [---------------------------------------->______________________________] 56.77% 101 p/s5543 / 9729 [---------------------------------------->______________________________] 56.97% 101 p/s5563 / 9729 [---------------------------------------->______________________________] 57.18% 101 p/s5584 / 9729 [---------------------------------------->______________________________] 57.40% 101 p/s5604 / 9729 [---------------------------------------->______________________________] 57.60% 101 p/s5624 / 9729 [----------------------------------------->_____________________________] 57.81% 101 p/s5645 / 9729 [----------------------------------------->_____________________________] 58.02% 101 p/s5663 / 9729 [----------------------------------------->_____________________________] 58.21% 101 p/s5684 / 9729 [----------------------------------------->_____________________________] 58.42% 101 p/s5704 / 9729 [----------------------------------------->_____________________________] 58.63% 101 p/s5724 / 9729 [----------------------------------------->_____________________________] 58.83% 101 p/s5745 / 9729 [----------------------------------------->_____________________________] 59.05% 101 p/s5765 / 9729 [------------------------------------------>____________________________] 59.26% 101 p/s5785 / 9729 [------------------------------------------>____________________________] 59.46% 101 p/s5806 / 9729 [------------------------------------------>____________________________] 59.68% 101 p/s5826 / 9729 [------------------------------------------>____________________________] 59.88% 101 p/s5846 / 9729 [------------------------------------------>____________________________] 60.09% 101 p/s5867 / 9729 [------------------------------------------>____________________________] 60.30% 101 p/s5886 / 9729 [------------------------------------------>____________________________] 60.50% 101 p/s5905 / 9729 [------------------------------------------->___________________________] 60.69% 101 p/s5925 / 9729 [------------------------------------------->___________________________] 60.90% 101 p/s5945 / 9729 [------------------------------------------->___________________________] 61.11% 101 p/s5966 / 9729 [------------------------------------------->___________________________] 61.32% 101 p/s5986 / 9729 [------------------------------------------->___________________________] 61.53% 101 p/s6006 / 9729 [------------------------------------------->___________________________] 61.73% 101 p/s6026 / 9729 [------------------------------------------->___________________________] 61.94% 101 p/s6047 / 9729 [-------------------------------------------->__________________________] 62.15% 101 p/s6067 / 9729 [-------------------------------------------->__________________________] 62.36% 101 p/s6086 / 9729 [-------------------------------------------->__________________________] 62.56% 101 p/s6106 / 9729 [-------------------------------------------->__________________________] 62.76% 101 p/s6127 / 9729 [-------------------------------------------->__________________________] 62.98% 101 p/s6147 / 9729 [-------------------------------------------->__________________________] 63.18% 101 p/s6167 / 9729 [--------------------------------------------->_________________________] 63.39% 101 p/s6187 / 9729 [--------------------------------------------->_________________________] 63.59% 101 p/s6208 / 9729 [--------------------------------------------->_________________________] 63.81% 101 p/s6228 / 9729 [--------------------------------------------->_________________________] 64.01% 101 p/s6249 / 9729 [--------------------------------------------->_________________________] 64.23% 101 p/s6269 / 9729 [--------------------------------------------->_________________________] 64.44% 101 p/s6289 / 9729 [--------------------------------------------->_________________________] 64.64% 101 p/s6309 / 9729 [---------------------------------------------->________________________] 64.85% 101 p/s6330 / 9729 [---------------------------------------------->________________________] 65.06% 101 p/s6350 / 9729 [---------------------------------------------->________________________] 65.27% 101 p/s6370 / 9729 [---------------------------------------------->________________________] 65.47% 101 p/s6390 / 9729 [---------------------------------------------->________________________] 65.68% 101 p/s6411 / 9729 [---------------------------------------------->________________________] 65.90% 101 p/s6431 / 9729 [---------------------------------------------->________________________] 66.10% 101 p/s6451 / 9729 [----------------------------------------------->_______________________] 66.31% 101 p/s6472 / 9729 [----------------------------------------------->_______________________] 66.52% 101 p/s6492 / 9729 [----------------------------------------------->_______________________] 66.73% 101 p/s6509 / 9729 [----------------------------------------------->_______________________] 66.90% 101 p/s6529 / 9729 [----------------------------------------------->_______________________] 67.11% 101 p/s6549 / 9729 [----------------------------------------------->_______________________] 67.31% 101 p/s6569 / 9729 [----------------------------------------------->_______________________] 67.52% 101 p/s6589 / 9729 [------------------------------------------------>______________________] 67.73% 101 p/s6610 / 9729 [------------------------------------------------>______________________] 67.94% 101 p/s6630 / 9729 [------------------------------------------------>______________________] 68.15% 101 p/s6650 / 9729 [------------------------------------------------>______________________] 68.35% 101 p/s6670 / 9729 [------------------------------------------------>______________________] 68.56% 101 p/s6690 / 9729 [------------------------------------------------>______________________] 68.76% 101 p/s6711 / 9729 [------------------------------------------------>______________________] 68.98% 101 p/s6731 / 9729 [------------------------------------------------->_____________________] 69.18% 101 p/s6751 / 9729 [------------------------------------------------->_____________________] 69.39% 101 p/s6772 / 9729 [------------------------------------------------->_____________________] 69.61% 101 p/s6792 / 9729 [------------------------------------------------->_____________________] 69.81% 101 p/s6812 / 9729 [------------------------------------------------->_____________________] 70.02% 101 p/s6833 / 9729 [------------------------------------------------->_____________________] 70.23% 101 p/s6853 / 9729 [-------------------------------------------------->____________________] 70.44% 101 p/s6873 / 9729 [-------------------------------------------------->____________________] 70.64% 101 p/s6894 / 9729 [-------------------------------------------------->____________________] 70.86% 101 p/s6914 / 9729 [-------------------------------------------------->____________________] 71.07% 101 p/s6934 / 9729 [-------------------------------------------------->____________________] 71.27% 101 p/s6954 / 9729 [-------------------------------------------------->____________________] 71.48% 101 p/s6975 / 9729 [-------------------------------------------------->____________________] 71.69% 101 p/s6995 / 9729 [--------------------------------------------------->___________________] 71.90% 101 p/s7016 / 9729 [--------------------------------------------------->___________________] 72.11% 101 p/s7036 / 9729 [--------------------------------------------------->___________________] 72.32% 101 p/s7056 / 9729 [--------------------------------------------------->___________________] 72.53% 101 p/s7077 / 9729 [--------------------------------------------------->___________________] 72.74% 101 p/s7097 / 9729 [--------------------------------------------------->___________________] 72.95% 101 p/s7117 / 9729 [--------------------------------------------------->___________________] 73.15% 101 p/s7137 / 9729 [---------------------------------------------------->__________________] 73.36% 101 p/s7157 / 9729 [---------------------------------------------------->__________________] 73.56% 101 p/s7178 / 9729 [---------------------------------------------------->__________________] 73.78% 101 p/s7198 / 9729 [---------------------------------------------------->__________________] 73.98% 101 p/s7218 / 9729 [---------------------------------------------------->__________________] 74.19% 101 p/s7237 / 9729 [---------------------------------------------------->__________________] 74.39% 101 p/s7257 / 9729 [---------------------------------------------------->__________________] 74.59% 101 p/s7278 / 9729 [----------------------------------------------------->_________________] 74.81% 101 p/s7298 / 9729 [----------------------------------------------------->_________________] 75.01% 101 p/s7318 / 9729 [----------------------------------------------------->_________________] 75.22% 101 p/s7338 / 9729 [----------------------------------------------------->_________________] 75.42% 101 p/s7358 / 9729 [----------------------------------------------------->_________________] 75.63% 101 p/s7378 / 9729 [----------------------------------------------------->_________________] 75.84% 101 p/s7399 / 9729 [----------------------------------------------------->_________________] 76.05% 101 p/s7419 / 9729 [------------------------------------------------------>________________] 76.26% 101 p/s7439 / 9729 [------------------------------------------------------>________________] 76.46% 101 p/s7457 / 9729 [------------------------------------------------------>________________] 76.65% 101 p/s7477 / 9729 [------------------------------------------------------>________________] 76.85% 101 p/s7497 / 9729 [------------------------------------------------------>________________] 77.06% 101 p/s7518 / 9729 [------------------------------------------------------>________________] 77.27% 101 p/s7538 / 9729 [------------------------------------------------------->_______________] 77.48% 101 p/s7558 / 9729 [------------------------------------------------------->_______________] 77.69% 101 p/s7578 / 9729 [------------------------------------------------------->_______________] 77.89% 101 p/s7599 / 9729 [------------------------------------------------------->_______________] 78.11% 101 p/s7619 / 9729 [------------------------------------------------------->_______________] 78.31% 101 p/s7639 / 9729 [------------------------------------------------------->_______________] 78.52% 101 p/s7659 / 9729 [------------------------------------------------------->_______________] 78.72% 101 p/s7679 / 9729 [-------------------------------------------------------->______________] 78.93% 101 p/s7699 / 9729 [-------------------------------------------------------->______________] 79.13% 101 p/s7719 / 9729 [-------------------------------------------------------->______________] 79.34% 101 p/s7740 / 9729 [-------------------------------------------------------->______________] 79.56% 101 p/s7760 / 9729 [-------------------------------------------------------->______________] 79.76% 101 p/s7780 / 9729 [-------------------------------------------------------->______________] 79.97% 101 p/s7801 / 9729 [-------------------------------------------------------->______________] 80.18% 101 p/s7821 / 9729 [--------------------------------------------------------->_____________] 80.39% 101 p/s7842 / 9729 [--------------------------------------------------------->_____________] 80.60% 101 p/s7862 / 9729 [--------------------------------------------------------->_____________] 80.81% 101 p/s7882 / 9729 [--------------------------------------------------------->_____________] 81.02% 101 p/s7902 / 9729 [--------------------------------------------------------->_____________] 81.22% 101 p/s7923 / 9729 [--------------------------------------------------------->_____________] 81.44% 101 p/s7942 / 9729 [--------------------------------------------------------->_____________] 81.63% 101 p/s7962 / 9729 [---------------------------------------------------------->____________] 81.84% 101 p/s7982 / 9729 [---------------------------------------------------------->____________] 82.04% 101 p/s8002 / 9729 [---------------------------------------------------------->____________] 82.25% 101 p/s8022 / 9729 [---------------------------------------------------------->____________] 82.45% 101 p/s8042 / 9729 [---------------------------------------------------------->____________] 82.66% 101 p/s8063 / 9729 [---------------------------------------------------------->____________] 82.88% 101 p/s8083 / 9729 [---------------------------------------------------------->____________] 83.08% 101 p/s8103 / 9729 [----------------------------------------------------------->___________] 83.29% 101 p/s8124 / 9729 [----------------------------------------------------------->___________] 83.50% 101 p/s8143 / 9729 [----------------------------------------------------------->___________] 83.70% 101 p/s8163 / 9729 [----------------------------------------------------------->___________] 83.90% 101 p/s8184 / 9729 [----------------------------------------------------------->___________] 84.12% 101 p/s8204 / 9729 [----------------------------------------------------------->___________] 84.33% 101 p/s8224 / 9729 [------------------------------------------------------------>__________] 84.53% 101 p/s8244 / 9729 [------------------------------------------------------------>__________] 84.74% 101 p/s8264 / 9729 [------------------------------------------------------------>__________] 84.94% 101 p/s8285 / 9729 [------------------------------------------------------------>__________] 85.16% 101 p/s8305 / 9729 [------------------------------------------------------------>__________] 85.36% 101 p/s8325 / 9729 [------------------------------------------------------------>__________] 85.57% 101 p/s8346 / 9729 [------------------------------------------------------------>__________] 85.78% 101 p/s8366 / 9729 [------------------------------------------------------------->_________] 85.99% 101 p/s8386 / 9729 [------------------------------------------------------------->_________] 86.20% 101 p/s8406 / 9729 [------------------------------------------------------------->_________] 86.40% 101 p/s8427 / 9729 [------------------------------------------------------------->_________] 86.62% 101 p/s8447 / 9729 [------------------------------------------------------------->_________] 86.82% 101 p/s8467 / 9729 [------------------------------------------------------------->_________] 87.03% 101 p/s8487 / 9729 [------------------------------------------------------------->_________] 87.23% 101 p/s8507 / 9729 [-------------------------------------------------------------->________] 87.44% 101 p/s8528 / 9729 [-------------------------------------------------------------->________] 87.66% 101 p/s8548 / 9729 [-------------------------------------------------------------->________] 87.86% 101 p/s8568 / 9729 [-------------------------------------------------------------->________] 88.07% 101 p/s8588 / 9729 [-------------------------------------------------------------->________] 88.27% 101 p/s8609 / 9729 [-------------------------------------------------------------->________] 88.49% 101 p/s8629 / 9729 [-------------------------------------------------------------->________] 88.69% 101 p/s8649 / 9729 [--------------------------------------------------------------->_______] 88.90% 101 p/s8670 / 9729 [--------------------------------------------------------------->_______] 89.12% 101 p/s8690 / 9729 [--------------------------------------------------------------->_______] 89.32% 101 p/s8710 / 9729 [--------------------------------------------------------------->_______] 89.53% 101 p/s8730 / 9729 [--------------------------------------------------------------->_______] 89.73% 101 p/s8751 / 9729 [--------------------------------------------------------------->_______] 89.95% 101 p/s8771 / 9729 [---------------------------------------------------------------->______] 90.15% 101 p/s8789 / 9729 [---------------------------------------------------------------->______] 90.34% 101 p/s8809 / 9729 [---------------------------------------------------------------->______] 90.54% 101 p/s8829 / 9729 [---------------------------------------------------------------->______] 90.75% 101 p/s8849 / 9729 [---------------------------------------------------------------->______] 90.95% 101 p/s8869 / 9729 [---------------------------------------------------------------->______] 91.16% 101 p/s8889 / 9729 [---------------------------------------------------------------->______] 91.37% 101 p/s8909 / 9729 [----------------------------------------------------------------->_____] 91.57% 101 p/s8929 / 9729 [----------------------------------------------------------------->_____] 91.78% 101 p/s8949 / 9729 [----------------------------------------------------------------->_____] 91.98% 101 p/s8969 / 9729 [----------------------------------------------------------------->_____] 92.19% 101 p/s8990 / 9729 [----------------------------------------------------------------->_____] 92.40% 101 p/s9010 / 9729 [----------------------------------------------------------------->_____] 92.61% 101 p/s9030 / 9729 [----------------------------------------------------------------->_____] 92.82% 101 p/s9050 / 9729 [------------------------------------------------------------------>____] 93.02% 101 p/s9071 / 9729 [------------------------------------------------------------------>____] 93.24% 101 p/s9091 / 9729 [------------------------------------------------------------------>____] 93.44% 101 p/s9111 / 9729 [------------------------------------------------------------------>____] 93.65% 101 p/s9131 / 9729 [------------------------------------------------------------------>____] 93.85% 101 p/s9151 / 9729 [------------------------------------------------------------------>____] 94.06% 101 p/s9172 / 9729 [------------------------------------------------------------------>____] 94.27% 101 p/s9192 / 9729 [------------------------------------------------------------------->___] 94.48% 101 p/s9212 / 9729 [------------------------------------------------------------------->___] 94.69% 101 p/s9233 / 9729 [------------------------------------------------------------------->___] 94.90% 101 p/s9253 / 9729 [------------------------------------------------------------------->___] 95.11% 101 p/s9273 / 9729 [------------------------------------------------------------------->___] 95.31% 101 p/s9293 / 9729 [------------------------------------------------------------------->___] 95.52% 101 p/s9314 / 9729 [------------------------------------------------------------------->___] 95.73% 101 p/s9334 / 9729 [-------------------------------------------------------------------->__] 95.94% 101 p/s9354 / 9729 [-------------------------------------------------------------------->__] 96.15% 101 p/s9374 / 9729 [-------------------------------------------------------------------->__] 96.35% 101 p/s9394 / 9729 [-------------------------------------------------------------------->__] 96.56% 101 p/s9414 / 9729 [-------------------------------------------------------------------->__] 96.76% 101 p/s9434 / 9729 [-------------------------------------------------------------------->__] 96.97% 101 p/s9455 / 9729 [--------------------------------------------------------------------->_] 97.18% 101 p/s9475 / 9729 [--------------------------------------------------------------------->_] 97.39% 101 p/s9495 / 9729 [--------------------------------------------------------------------->_] 97.59% 101 p/s9515 / 9729 [--------------------------------------------------------------------->_] 97.80% 101 p/s9535 / 9729 [--------------------------------------------------------------------->_] 98.01% 101 p/s9556 / 9729 [--------------------------------------------------------------------->_] 98.22% 101 p/s9576 / 9729 [--------------------------------------------------------------------->_] 98.43% 101 p/s9596 / 9729 [---------------------------------------------------------------------->] 98.63% 101 p/s9616 / 9729 [---------------------------------------------------------------------->] 98.84% 101 p/s9637 / 9729 [---------------------------------------------------------------------->] 99.05% 101 p/s9657 / 9729 [---------------------------------------------------------------------->] 99.26% 101 p/s9677 / 9729 [---------------------------------------------------------------------->] 99.47% 101 p/s9697 / 9729 [---------------------------------------------------------------------->] 99.67% 101 p/s9717 / 9729 [---------------------------------------------------------------------->] 99.88% 101 p/s9729 / 9729 [----------------------------------------------------------------------] 100.00% 101 p/s2026-07-10T06:27:19 - INFO: Parsing 9729 sonar sweeps from /working/78ef1280-4335-22ea-17e4-734902e4de18/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/9729 [00:00<?, ?it/s]
  0%|          | 3/9729 [00:00<06:36, 24.55it/s]
  0%|          | 6/9729 [00:00<06:26, 25.17it/s]
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  0%|          | 24/9729 [00:00<06:07, 26.44it/s]
  0%|          | 27/9729 [00:01<06:05, 26.56it/s]
  0%|          | 30/9729 [00:01<06:02, 26.74it/s]
  0%|          | 33/9729 [00:01<06:01, 26.82it/s]
  0%|          | 36/9729 [00:01<06:01, 26.84it/s]
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  0%|          | 42/9729 [00:01<05:59, 26.95it/s]
  0%|          | 45/9729 [00:01<05:59, 26.97it/s]
  0%|          | 48/9729 [00:01<05:57, 27.06it/s]
  1%|          | 51/9729 [00:01<05:58, 26.98it/s]
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  1%|          | 60/9729 [00:02<05:57, 27.01it/s]
  1%|          | 63/9729 [00:02<05:58, 26.96it/s]
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  1%|          | 69/9729 [00:02<05:57, 27.01it/s]
  1%|          | 72/9729 [00:02<05:57, 27.04it/s]
  1%|          | 75/9729 [00:02<05:57, 27.01it/s]
  1%|          | 78/9729 [00:02<05:57, 26.96it/s]
  1%|          | 81/9729 [00:03<05:57, 26.96it/s]
  1%|          | 84/9729 [00:03<05:57, 26.99it/s]
  1%|          | 87/9729 [00:03<05:57, 26.99it/s]
  1%|          | 90/9729 [00:03<05:57, 26.95it/s]
  1%|          | 93/9729 [00:03<05:59, 26.82it/s]
  1%|          | 96/9729 [00:03<05:58, 26.84it/s]
  1%|          | 99/9729 [00:03<06:11, 25.92it/s]
  1%|          | 102/9729 [00:03<06:07, 26.17it/s]
  1%|          | 105/9729 [00:03<06:06, 26.26it/s]
  1%|          | 108/9729 [00:04<06:04, 26.41it/s]
  1%|          | 111/9729 [00:04<06:02, 26.56it/s]
  1%|          | 114/9729 [00:04<05:59, 26.72it/s]
  1%|          | 117/9729 [00:04<05:57, 26.85it/s]
  1%|          | 120/9729 [00:04<05:58, 26.82it/s]
  1%|▏         | 123/9729 [00:04<05:58, 26.80it/s]
  1%|▏         | 126/9729 [00:04<05:56, 26.92it/s]
  1%|▏         | 129/9729 [00:04<05:56, 26.96it/s]
  1%|▏         | 132/9729 [00:04<05:55, 27.01it/s]
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  1%|▏         | 138/9729 [00:05<06:00, 26.60it/s]
  1%|▏         | 141/9729 [00:05<06:04, 26.32it/s]
  1%|▏         | 144/9729 [00:05<06:05, 26.22it/s]
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  2%|▏         | 153/9729 [00:05<05:57, 26.76it/s]
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  2%|▏         | 204/9729 [00:07<05:52, 27.01it/s]
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  3%|▎         | 246/9729 [00:09<05:56, 26.60it/s]
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  3%|▎         | 255/9729 [00:09<05:51, 26.92it/s]
  3%|▎         | 258/9729 [00:09<05:51, 26.95it/s]
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  3%|▎         | 267/9729 [00:09<05:49, 27.05it/s]
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  3%|▎         | 279/9729 [00:10<05:50, 26.98it/s]
  3%|▎         | 282/9729 [00:10<05:49, 27.04it/s]
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  3%|▎         | 291/9729 [00:10<05:49, 27.01it/s]
  3%|▎         | 294/9729 [00:10<05:50, 26.92it/s]
  3%|▎         | 297/9729 [00:11<05:52, 26.77it/s]
  3%|▎         | 300/9729 [00:11<05:51, 26.83it/s]
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  3%|▎         | 306/9729 [00:11<05:50, 26.86it/s]
  3%|▎         | 309/9729 [00:11<05:53, 26.65it/s]
  3%|▎         | 312/9729 [00:11<05:54, 26.54it/s]
  3%|▎         | 315/9729 [00:11<05:52, 26.73it/s]
  3%|▎         | 318/9729 [00:11<05:51, 26.76it/s]
  3%|▎         | 321/9729 [00:11<05:51, 26.78it/s]
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  3%|▎         | 327/9729 [00:12<05:47, 27.04it/s]
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  3%|▎         | 339/9729 [00:12<05:46, 27.10it/s]
  4%|▎         | 342/9729 [00:12<05:50, 26.78it/s]
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  4%|▍         | 366/9729 [00:13<05:45, 27.09it/s]
  4%|▍         | 369/9729 [00:13<05:45, 27.05it/s]
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  5%|▍         | 438/9729 [00:16<05:41, 27.18it/s]
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2026-07-10T06:33:32 - 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-distance-threshold 60 --sonar-sample-offset -1 /working/78ef1280-4335-22ea-17e4-734902e4de18/78ef1280-4335-22ea-17e4-734902e4de18"
2026-07-10T06:33:34 - INFO: DataPrep 0.14.7
2026-07-10T06:33:34 - INFO: Prepared data will be output to /working/78ef1280-4335-22ea-17e4-734902e4de18/78ef1280-4335-22ea-17e4-734902e4de18/processing/data
2026-07-10T06:33:34 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-10T06:33:34 - deployment - INFO: Detected P3D version: P3D_1
2026-07-10T06:33:34 - INFO: Recording GUID: 78ef1280-4335-22ea-17e4-734902e4de18
2026-07-10T06:33:34 - INFO: Preparing sonar data...
2026-07-10T06:33:34 - INFO: /working/78ef1280-4335-22ea-17e4-734902e4de18/78ef1280-4335-22ea-17e4-734902e4de18/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-10T06:33:44 - INFO: Sonar epoch is 2025-09-03 22:17:26.235063+00:00 (1756937846235063155)
2026-07-10T06:33:44 - INFO: Creating sonar sensor alignment track...
2026-07-10T06:33:44 - INFO: Using sonar rotation of 0.034907 radians for wedge mask
2026-07-10T06:33:44 - INFO: Sensor speed of sound is 1500 m/s
2026-07-10T06:33:44 - INFO: Sensor range is 1.083600 m
2026-07-10T06:33:44 - INFO: Sensor micrometres per sample is 3600.000147
2026-07-10T06:33:44 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-10T06:33:44 - INFO: Scaled range is 1.079619 m
2026-07-10T06:33:44 - INFO: Scaled micrometres per sample is 3586.772759
2026-07-10T06:33:44 - INFO: Processing 9729 sweeps...

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2026-07-10T06:34:06 - INFO: Prepared sonar data in 31.7538 s
2026-07-10T06:34:06 - INFO: No IMU data found
2026-07-10T06:34:07 - INFO: DataPrep took 0:00:32.811677
2026-07-10T06:34:07 - INFO: Extracted sonar data in 0:08:24.590168
2026-07-10T06:34:08 - INFO: MSIP3D took 0:08:25.988885