2026-01-22T13:33:24 - INFO: MSIP3D 0.1.6
2026-01-22T13:33:24 - INFO: P3D files will be output to /working/957f9d31-ba7b-c075-d87b-3dce675c416b/957f9d31-ba7b-c075-d87b-3dce675c416b
2026-01-22T13:33:24 - INFO: Found 10 TFD dictionary entries
2026-01-22T13:33:24 - INFO: Found TFD mission for SJ502795 Dep 13
2026-01-22T13:33:24 - INFO: Recording will be processed as MD
2026-01-22T13:33:24 - INFO: Copying assets JSON to output directory...
2026-01-22T13:33:24 - INFO: Preparing counter data...
2026-01-22T13:33:24 - INFO: Interpreting counter as imperial
2026-01-22T13:33:24 - INFO: Prepared counter data in 0.1025 s
2026-01-22T13:33:24 - INFO: Extracting sonar data...
TFD path: /working/957f9d31-ba7b-c075-d87b-3dce675c416b/tfd/SJ502795_Dep_13.tfd
TFD path: /working/957f9d31-ba7b-c075-d87b-3dce675c416b/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855221467469924931
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012080331585573559
Name: LASER, Tag: 4855221467469924940
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 4914
21 / 4914 [>___________________________________________________________________________] 0.43% ? p/s44 / 4914 [>___________________________________________________________________________] 0.90% ? p/s65 / 4914 [->__________________________________________________________________________] 1.32% ? p/s88 / 4914 [->________________________________________________________________________] 1.79% 112 p/s110 / 4914 [->_______________________________________________________________________] 2.24% 112 p/s133 / 4914 [->_______________________________________________________________________] 2.71% 112 p/s155 / 4914 [-->______________________________________________________________________] 3.15% 112 p/s178 / 4914 [-->______________________________________________________________________] 3.62% 112 p/s200 / 4914 [-->______________________________________________________________________] 4.07% 112 p/s223 / 4914 [--->_____________________________________________________________________] 4.54% 112 p/s246 / 4914 [--->_____________________________________________________________________] 5.01% 112 p/s268 / 4914 [--->_____________________________________________________________________] 5.45% 112 p/s291 / 4914 [---->____________________________________________________________________] 5.92% 112 p/s313 / 4914 [---->____________________________________________________________________] 6.37% 112 p/s336 / 4914 [---->____________________________________________________________________] 6.84% 112 p/s359 / 4914 [----->___________________________________________________________________] 7.31% 112 p/s381 / 4914 [----->___________________________________________________________________] 7.75% 112 p/s404 / 4914 [------>__________________________________________________________________] 8.22% 112 p/s427 / 4914 [------>__________________________________________________________________] 8.69% 112 p/s449 / 4914 [------>__________________________________________________________________] 9.14% 112 p/s472 / 4914 [------->_________________________________________________________________] 9.61% 112 p/s495 / 4914 [------->________________________________________________________________] 10.07% 112 p/s517 / 4914 [------->________________________________________________________________] 10.52% 112 p/s539 / 4914 [------->________________________________________________________________] 10.97% 112 p/s562 / 4914 [-------->_______________________________________________________________] 11.44% 112 p/s585 / 4914 [-------->_______________________________________________________________] 11.90% 112 p/s607 / 4914 [-------->_______________________________________________________________] 12.35% 112 p/s630 / 4914 [--------->______________________________________________________________] 12.82% 112 p/s652 / 4914 [--------->______________________________________________________________] 13.27% 112 p/s675 / 4914 [--------->______________________________________________________________] 13.74% 112 p/s698 / 4914 [---------->_____________________________________________________________] 14.20% 112 p/s720 / 4914 [---------->_____________________________________________________________] 14.65% 112 p/s743 / 4914 [---------->_____________________________________________________________] 15.12% 112 p/s766 / 4914 [----------->____________________________________________________________] 15.59% 112 p/s789 / 4914 [----------->____________________________________________________________] 16.06% 112 p/s811 / 4914 [----------->____________________________________________________________] 16.50% 112 p/s834 / 4914 [------------>___________________________________________________________] 16.97% 112 p/s856 / 4914 [------------>___________________________________________________________] 17.42% 112 p/s879 / 4914 [------------>___________________________________________________________] 17.89% 112 p/s902 / 4914 [------------->__________________________________________________________] 18.36% 112 p/s924 / 4914 [------------->__________________________________________________________] 18.80% 112 p/s947 / 4914 [------------->__________________________________________________________] 19.27% 112 p/s970 / 4914 [-------------->_________________________________________________________] 19.74% 113 p/s992 / 4914 [-------------->_________________________________________________________] 20.19% 113 p/s1015 / 4914 [-------------->________________________________________________________] 20.66% 113 p/s1037 / 4914 [-------------->________________________________________________________] 21.10% 112 p/s1060 / 4914 [--------------->_______________________________________________________] 21.57% 112 p/s1082 / 4914 [--------------->_______________________________________________________] 22.02% 112 p/s1105 / 4914 [--------------->_______________________________________________________] 22.49% 113 p/s1127 / 4914 [---------------->______________________________________________________] 22.93% 113 p/s1149 / 4914 [---------------->______________________________________________________] 23.38% 113 p/s1172 / 4914 [---------------->______________________________________________________] 23.85% 112 p/s1194 / 4914 [----------------->_____________________________________________________] 24.30% 112 p/s1217 / 4914 [----------------->_____________________________________________________] 24.77% 112 p/s1240 / 4914 [----------------->_____________________________________________________] 25.23% 113 p/s1262 / 4914 [------------------>____________________________________________________] 25.68% 113 p/s1285 / 4914 [------------------>____________________________________________________] 26.15% 113 p/s1308 / 4914 [------------------>____________________________________________________] 26.62% 113 p/s1330 / 4914 [------------------->___________________________________________________] 27.07% 113 p/s1353 / 4914 [------------------->___________________________________________________] 27.53% 113 p/s1375 / 4914 [------------------->___________________________________________________] 27.98% 113 p/s1398 / 4914 [-------------------->__________________________________________________] 28.45% 113 p/s1420 / 4914 [-------------------->__________________________________________________] 28.90% 113 p/s1443 / 4914 [-------------------->__________________________________________________] 29.37% 113 p/s1465 / 4914 [--------------------->_________________________________________________] 29.81% 113 p/s1488 / 4914 [--------------------->_________________________________________________] 30.28% 113 p/s1511 / 4914 [--------------------->_________________________________________________] 30.75% 113 p/s1533 / 4914 [---------------------->________________________________________________] 31.20% 113 p/s1555 / 4914 [---------------------->________________________________________________] 31.64% 113 p/s1578 / 4914 [---------------------->________________________________________________] 32.11% 113 p/s1601 / 4914 [----------------------->_______________________________________________] 32.58% 113 p/s1623 / 4914 [----------------------->_______________________________________________] 33.03% 113 p/s1645 / 4914 [----------------------->_______________________________________________] 33.48% 113 p/s1667 / 4914 [------------------------>______________________________________________] 33.92% 113 p/s1690 / 4914 [------------------------>______________________________________________] 34.39% 113 p/s1713 / 4914 [------------------------>______________________________________________] 34.86% 113 p/s1735 / 4914 [------------------------->_____________________________________________] 35.31% 113 p/s1757 / 4914 [------------------------->_____________________________________________] 35.75% 113 p/s1780 / 4914 [------------------------->_____________________________________________] 36.22% 112 p/s1802 / 4914 [-------------------------->____________________________________________] 36.67% 112 p/s1825 / 4914 [-------------------------->____________________________________________] 37.14% 112 p/s1847 / 4914 [-------------------------->____________________________________________] 37.59% 112 p/s1870 / 4914 [--------------------------->___________________________________________] 38.05% 112 p/s1892 / 4914 [--------------------------->___________________________________________] 38.50% 112 p/s1915 / 4914 [--------------------------->___________________________________________] 38.97% 113 p/s1937 / 4914 [--------------------------->___________________________________________] 39.42% 113 p/s1960 / 4914 [---------------------------->__________________________________________] 39.89% 113 p/s1982 / 4914 [---------------------------->__________________________________________] 40.33% 112 p/s2005 / 4914 [---------------------------->__________________________________________] 40.80% 112 p/s2028 / 4914 [----------------------------->_________________________________________] 41.27% 112 p/s2049 / 4914 [----------------------------->_________________________________________] 41.70% 112 p/s2072 / 4914 [----------------------------->_________________________________________] 42.17% 112 p/s2095 / 4914 [------------------------------>________________________________________] 42.63% 112 p/s2117 / 4914 [------------------------------>________________________________________] 43.08% 112 p/s2140 / 4914 [------------------------------>________________________________________] 43.55% 112 p/s2162 / 4914 [------------------------------->_______________________________________] 44.00% 112 p/s2185 / 4914 [------------------------------->_______________________________________] 44.46% 113 p/s2207 / 4914 [------------------------------->_______________________________________] 44.91% 113 p/s2229 / 4914 [-------------------------------->______________________________________] 45.36% 113 p/s2252 / 4914 [-------------------------------->______________________________________] 45.83% 112 p/s2275 / 4914 [-------------------------------->______________________________________] 46.30% 112 p/s2297 / 4914 [--------------------------------->_____________________________________] 46.74% 112 p/s2320 / 4914 [--------------------------------->_____________________________________] 47.21% 113 p/s2342 / 4914 [--------------------------------->_____________________________________] 47.66% 113 p/s2365 / 4914 [---------------------------------->____________________________________] 48.13% 113 p/s2388 / 4914 [---------------------------------->____________________________________] 48.60% 113 p/s2410 / 4914 [---------------------------------->____________________________________] 49.04% 113 p/s2433 / 4914 [----------------------------------->___________________________________] 49.51% 113 p/s2456 / 4914 [----------------------------------->___________________________________] 49.98% 113 p/s2478 / 4914 [----------------------------------->___________________________________] 50.43% 113 p/s2501 / 4914 [------------------------------------>__________________________________] 50.90% 113 p/s2524 / 4914 [------------------------------------>__________________________________] 51.36% 113 p/s2546 / 4914 [------------------------------------>__________________________________] 51.81% 113 p/s2569 / 4914 [------------------------------------->_________________________________] 52.28% 113 p/s2591 / 4914 [------------------------------------->_________________________________] 52.73% 113 p/s2614 / 4914 [------------------------------------->_________________________________] 53.19% 113 p/s2636 / 4914 [-------------------------------------->________________________________] 53.64% 113 p/s2659 / 4914 [-------------------------------------->________________________________] 54.11% 113 p/s2681 / 4914 [-------------------------------------->________________________________] 54.56% 113 p/s2704 / 4914 [--------------------------------------->_______________________________] 55.03% 113 p/s2726 / 4914 [--------------------------------------->_______________________________] 55.47% 113 p/s2749 / 4914 [--------------------------------------->_______________________________] 55.94% 113 p/s2771 / 4914 [---------------------------------------->______________________________] 56.39% 113 p/s2794 / 4914 [---------------------------------------->______________________________] 56.86% 113 p/s2816 / 4914 [---------------------------------------->______________________________] 57.31% 113 p/s2839 / 4914 [----------------------------------------->_____________________________] 57.77% 113 p/s2861 / 4914 [----------------------------------------->_____________________________] 58.22% 113 p/s2883 / 4914 [----------------------------------------->_____________________________] 58.67% 113 p/s2906 / 4914 [----------------------------------------->_____________________________] 59.14% 113 p/s2928 / 4914 [------------------------------------------>____________________________] 59.58% 113 p/s2951 / 4914 [------------------------------------------>____________________________] 60.05% 113 p/s2973 / 4914 [------------------------------------------>____________________________] 60.50% 113 p/s2996 / 4914 [------------------------------------------->___________________________] 60.97% 113 p/s3018 / 4914 [------------------------------------------->___________________________] 61.42% 113 p/s3040 / 4914 [------------------------------------------->___________________________] 61.86% 113 p/s3063 / 4914 [-------------------------------------------->__________________________] 62.33% 113 p/s3086 / 4914 [-------------------------------------------->__________________________] 62.80% 113 p/s3108 / 4914 [-------------------------------------------->__________________________] 63.25% 113 p/s3130 / 4914 [--------------------------------------------->_________________________] 63.70% 112 p/s3153 / 4914 [--------------------------------------------->_________________________] 64.16% 112 p/s3175 / 4914 [--------------------------------------------->_________________________] 64.61% 112 p/s3198 / 4914 [---------------------------------------------->________________________] 65.08% 113 p/s3220 / 4914 [---------------------------------------------->________________________] 65.53% 113 p/s3243 / 4914 [---------------------------------------------->________________________] 66.00% 113 p/s3265 / 4914 [----------------------------------------------->_______________________] 66.44% 112 p/s3288 / 4914 [----------------------------------------------->_______________________] 66.91% 112 p/s3310 / 4914 [----------------------------------------------->_______________________] 67.36% 112 p/s3332 / 4914 [------------------------------------------------>______________________] 67.81% 112 p/s3354 / 4914 [------------------------------------------------>______________________] 68.25% 112 p/s3377 / 4914 [------------------------------------------------>______________________] 68.72% 112 p/s3399 / 4914 [------------------------------------------------->_____________________] 69.17% 112 p/s3422 / 4914 [------------------------------------------------->_____________________] 69.64% 112 p/s3444 / 4914 [------------------------------------------------->_____________________] 70.09% 112 p/s3466 / 4914 [-------------------------------------------------->____________________] 70.53% 112 p/s3488 / 4914 [-------------------------------------------------->____________________] 70.98% 112 p/s3510 / 4914 [-------------------------------------------------->____________________] 71.43% 112 p/s3533 / 4914 [--------------------------------------------------->___________________] 71.90% 112 p/s3554 / 4914 [--------------------------------------------------->___________________] 72.32% 112 p/s3577 / 4914 [--------------------------------------------------->___________________] 72.79% 112 p/s3599 / 4914 [---------------------------------------------------->__________________] 73.24% 112 p/s3621 / 4914 [---------------------------------------------------->__________________] 73.69% 112 p/s3644 / 4914 [---------------------------------------------------->__________________] 74.16% 112 p/s3666 / 4914 [---------------------------------------------------->__________________] 74.60% 112 p/s3688 / 4914 [----------------------------------------------------->_________________] 75.05% 112 p/s3711 / 4914 [----------------------------------------------------->_________________] 75.52% 112 p/s3733 / 4914 [----------------------------------------------------->_________________] 75.97% 112 p/s3755 / 4914 [------------------------------------------------------>________________] 76.41% 112 p/s3778 / 4914 [------------------------------------------------------>________________] 76.88% 112 p/s3800 / 4914 [------------------------------------------------------>________________] 77.33% 112 p/s3822 / 4914 [------------------------------------------------------->_______________] 77.78% 112 p/s3844 / 4914 [------------------------------------------------------->_______________] 78.23% 112 p/s3866 / 4914 [------------------------------------------------------->_______________] 78.67% 112 p/s3888 / 4914 [-------------------------------------------------------->______________] 79.12% 112 p/s3911 / 4914 [-------------------------------------------------------->______________] 79.59% 112 p/s3933 / 4914 [-------------------------------------------------------->______________] 80.04% 112 p/s3955 / 4914 [--------------------------------------------------------->_____________] 80.48% 112 p/s3977 / 4914 [--------------------------------------------------------->_____________] 80.93% 112 p/s3999 / 4914 [--------------------------------------------------------->_____________] 81.38% 112 p/s4021 / 4914 [---------------------------------------------------------->____________] 81.83% 112 p/s4043 / 4914 [---------------------------------------------------------->____________] 82.28% 112 p/s4065 / 4914 [---------------------------------------------------------->____________] 82.72% 112 p/s4087 / 4914 [----------------------------------------------------------->___________] 83.17% 112 p/s4108 / 4914 [----------------------------------------------------------->___________] 83.60% 112 p/s4131 / 4914 [----------------------------------------------------------->___________] 84.07% 112 p/s4153 / 4914 [------------------------------------------------------------>__________] 84.51% 112 p/s4175 / 4914 [------------------------------------------------------------>__________] 84.96% 112 p/s4197 / 4914 [------------------------------------------------------------>__________] 85.41% 111 p/s4220 / 4914 [------------------------------------------------------------>__________] 85.88% 111 p/s4242 / 4914 [------------------------------------------------------------->_________] 86.32% 111 p/s4264 / 4914 [------------------------------------------------------------->_________] 86.77% 111 p/s4287 / 4914 [------------------------------------------------------------->_________] 87.24% 111 p/s4309 / 4914 [-------------------------------------------------------------->________] 87.69% 111 p/s4331 / 4914 [-------------------------------------------------------------->________] 88.14% 111 p/s4354 / 4914 [-------------------------------------------------------------->________] 88.60% 111 p/s4376 / 4914 [--------------------------------------------------------------->_______] 89.05% 111 p/s4399 / 4914 [--------------------------------------------------------------->_______] 89.52% 112 p/s4421 / 4914 [--------------------------------------------------------------->_______] 89.97% 112 p/s4443 / 4914 [---------------------------------------------------------------->______] 90.42% 112 p/s4465 / 4914 [---------------------------------------------------------------->______] 90.86% 111 p/s4488 / 4914 [---------------------------------------------------------------->______] 91.33% 111 p/s4510 / 4914 [----------------------------------------------------------------->_____] 91.78% 111 p/s4532 / 4914 [----------------------------------------------------------------->_____] 92.23% 111 p/s4554 / 4914 [----------------------------------------------------------------->_____] 92.67% 111 p/s4576 / 4914 [------------------------------------------------------------------>____] 93.12% 111 p/s4598 / 4914 [------------------------------------------------------------------>____] 93.57% 111 p/s4621 / 4914 [------------------------------------------------------------------>____] 94.04% 111 p/s4642 / 4914 [------------------------------------------------------------------->___] 94.46% 111 p/s4665 / 4914 [------------------------------------------------------------------->___] 94.93% 111 p/s4687 / 4914 [------------------------------------------------------------------->___] 95.38% 111 p/s4709 / 4914 [-------------------------------------------------------------------->__] 95.83% 111 p/s4731 / 4914 [-------------------------------------------------------------------->__] 96.28% 111 p/s4753 / 4914 [-------------------------------------------------------------------->__] 96.72% 111 p/s4775 / 4914 [-------------------------------------------------------------------->__] 97.17% 111 p/s4797 / 4914 [--------------------------------------------------------------------->_] 97.62% 111 p/s4819 / 4914 [--------------------------------------------------------------------->_] 98.07% 111 p/s4842 / 4914 [--------------------------------------------------------------------->_] 98.53% 111 p/s4864 / 4914 [---------------------------------------------------------------------->] 98.98% 111 p/s4886 / 4914 [---------------------------------------------------------------------->] 99.43% 111 p/s4908 / 4914 [---------------------------------------------------------------------->] 99.88% 111 p/s4914 / 4914 [----------------------------------------------------------------------] 100.00% 113 p/s2026-01-22T13:34:08 - INFO: Parsing 4914 sonar sweeps from /working/957f9d31-ba7b-c075-d87b-3dce675c416b/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/4914 [00:00<?, ?it/s]
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  0%|          | 6/4914 [00:00<03:03, 26.79it/s]
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  0%|          | 24/4914 [00:00<02:58, 27.45it/s]
  1%|          | 27/4914 [00:00<02:58, 27.41it/s]
  1%|          | 30/4914 [00:01<02:58, 27.31it/s]
  1%|          | 33/4914 [00:01<02:58, 27.32it/s]
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  1%|          | 45/4914 [00:01<02:59, 27.10it/s]
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  1%|          | 51/4914 [00:01<02:59, 27.06it/s]
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  1%|          | 57/4914 [00:02<02:58, 27.15it/s]
  1%|          | 60/4914 [00:02<02:58, 27.12it/s]
  1%|▏         | 63/4914 [00:02<02:59, 27.10it/s]
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  1%|▏         | 69/4914 [00:02<02:58, 27.09it/s]
  1%|▏         | 72/4914 [00:02<02:58, 27.11it/s]
  2%|▏         | 75/4914 [00:02<02:58, 27.12it/s]
  2%|▏         | 78/4914 [00:02<02:58, 27.12it/s]
  2%|▏         | 81/4914 [00:02<02:58, 27.12it/s]
  2%|▏         | 84/4914 [00:03<02:58, 27.12it/s]
  2%|▏         | 87/4914 [00:03<02:58, 27.08it/s]
  2%|▏         | 90/4914 [00:03<02:58, 27.05it/s]
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  2%|▏         | 96/4914 [00:03<02:58, 26.95it/s]
  2%|▏         | 99/4914 [00:03<02:58, 26.93it/s]
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  2%|▏         | 105/4914 [00:03<02:58, 26.94it/s]
  2%|▏         | 108/4914 [00:03<02:58, 26.99it/s]
  2%|▏         | 111/4914 [00:04<02:57, 26.99it/s]
  2%|▏         | 114/4914 [00:04<02:57, 26.97it/s]
  2%|▏         | 117/4914 [00:04<02:57, 27.02it/s]
  2%|▏         | 120/4914 [00:04<02:57, 26.99it/s]
  3%|▎         | 123/4914 [00:04<02:57, 26.98it/s]
  3%|▎         | 126/4914 [00:04<02:57, 26.96it/s]
  3%|▎         | 129/4914 [00:04<02:57, 26.95it/s]
  3%|▎         | 132/4914 [00:04<02:57, 26.91it/s]
  3%|▎         | 135/4914 [00:04<03:01, 26.26it/s]
  3%|▎         | 138/4914 [00:05<03:00, 26.52it/s]
  3%|▎         | 141/4914 [00:05<02:58, 26.68it/s]
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  4%|▎         | 174/4914 [00:06<02:54, 27.13it/s]
  4%|▎         | 177/4914 [00:06<02:54, 27.09it/s]
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2026-01-22T13:37:12 - 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-casing-threshold 150 --sonar-sample-threshold 100 --sonar-mask-angle 90 --sonar-despike --sonar-flip /working/957f9d31-ba7b-c075-d87b-3dce675c416b/957f9d31-ba7b-c075-d87b-3dce675c416b"
2026-01-22T13:37:13 - INFO: DataPrep 0.13.9
2026-01-22T13:37:13 - INFO: Prepared data will be output to /working/957f9d31-ba7b-c075-d87b-3dce675c416b/957f9d31-ba7b-c075-d87b-3dce675c416b/processing/data
2026-01-22T13:37:13 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-01-22T13:37:13 - deployment - INFO: Detected P3D version: P3D_1
2026-01-22T13:37:13 - INFO: Recording GUID: 957f9d31-ba7b-c075-d87b-3dce675c416b
2026-01-22T13:37:13 - INFO: Preparing sonar data...
2026-01-22T13:37:13 - INFO: /working/957f9d31-ba7b-c075-d87b-3dce675c416b/957f9d31-ba7b-c075-d87b-3dce675c416b/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-01-22T13:37:18 - INFO: Sonar epoch is 2026-01-13 15:47:58.348952+00:00 (1768319278348951451)
2026-01-22T13:37:18 - INFO: Sonar configured speed of sound was 1500 m/s
2026-01-22T13:37:18 - INFO: Sonar range is 0.939120 m
2026-01-22T13:37:18 - INFO: Speed of sound is 1494 m/s
2026-01-22T13:37:18 - INFO: Processing 4914 sweeps...

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2026-01-22T13:37:27 - INFO: Creating sonar sensor alignment track...
2026-01-22T13:37:30 - INFO: Prepared sonar data in 16.4271 s
2026-01-22T13:37:30 - INFO: No IMU data found
2026-01-22T13:37:30 - INFO: DataPrep took 0:00:17.021439
2026-01-22T13:37:30 - INFO: Extracted sonar data in 0:04:06.102091
2026-01-22T13:37:31 - INFO: MSIP3D took 0:04:06.636965