2026-04-21T01:22:00 - INFO: MSIP3D 0.2.5
2026-04-21T01:22:00 - INFO: P3D files will be output to /working/e7246565-2d67-1aff-cf2c-ee533440ecf3/e7246565-2d67-1aff-cf2c-ee533440ecf3
2026-04-21T01:22:00 - INFO: Found 10 TFD dictionary entries
2026-04-21T01:22:00 - INFO: Found TFD mission for 578292
2026-04-21T01:22:00 - WARNING: Unknown equipment type "SuperMD Single Camera", defaulting to SMD
2026-04-21T01:22:00 - INFO: Recording will be processed as SMD
2026-04-21T01:22:00 - INFO: Copying assets JSON to output directory...
2026-04-21T01:22:00 - INFO: Preparing counter data...
2026-04-21T01:22:00 - INFO: Interpreting counter as metric
2026-04-21T01:22:00 - INFO: Preparing size track from assets JSON...
2026-04-21T01:22:00 - INFO: Preparing shape track from assets JSON...
2026-04-21T01:22:00 - INFO: Preparing material track from assets JSON...
2026-04-21T01:22:00 - INFO: Prepared counter data in 0.2039 s
2026-04-21T01:22:00 - INFO: Extracting sonar data...
TFD path: /working/e7246565-2d67-1aff-cf2c-ee533440ecf3/tfd/578292.tfd
TFD path: /working/e7246565-2d67-1aff-cf2c-ee533440ecf3/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855215961321851459
Name: SONAR_SENSOR_DATA, Tag: 6012080310110734931
Name: LASER, Tag: 4855215961321851468
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080310110737079
Getting track SONAR
Number of frames: 4150
23 / 4150 [>___________________________________________________________________________] 0.55% ? p/s46 / 4150 [>___________________________________________________________________________] 1.11% ? p/s69 / 4150 [->__________________________________________________________________________] 1.66% ? p/s93 / 4150 [->________________________________________________________________________] 2.24% 117 p/s116 / 4150 [-->______________________________________________________________________] 2.80% 117 p/s138 / 4150 [-->______________________________________________________________________] 3.33% 117 p/s162 / 4150 [-->______________________________________________________________________] 3.90% 117 p/s185 / 4150 [--->_____________________________________________________________________] 4.46% 117 p/s208 / 4150 [--->_____________________________________________________________________] 5.01% 117 p/s232 / 4150 [---->____________________________________________________________________] 5.59% 117 p/s254 / 4150 [---->____________________________________________________________________] 6.12% 117 p/s277 / 4150 [---->____________________________________________________________________] 6.67% 117 p/s300 / 4150 [----->___________________________________________________________________] 7.23% 116 p/s323 / 4150 [----->___________________________________________________________________] 7.78% 116 p/s346 / 4150 [------>__________________________________________________________________] 8.34% 116 p/s369 / 4150 [------>__________________________________________________________________] 8.89% 116 p/s392 / 4150 [------>__________________________________________________________________] 9.45% 116 p/s415 / 4150 [------->________________________________________________________________] 10.00% 116 p/s437 / 4150 [------->________________________________________________________________] 10.53% 116 p/s460 / 4150 [------->________________________________________________________________] 11.08% 116 p/s483 / 4150 [-------->_______________________________________________________________] 11.64% 116 p/s506 / 4150 [-------->_______________________________________________________________] 12.19% 116 p/s528 / 4150 [--------->______________________________________________________________] 12.72% 116 p/s551 / 4150 [--------->______________________________________________________________] 13.28% 116 p/s574 / 4150 [--------->______________________________________________________________] 13.83% 116 p/s597 / 4150 [---------->_____________________________________________________________] 14.39% 116 p/s620 / 4150 [---------->_____________________________________________________________] 14.94% 116 p/s643 / 4150 [----------->____________________________________________________________] 15.49% 116 p/s666 / 4150 [----------->____________________________________________________________] 16.05% 116 p/s689 / 4150 [----------->____________________________________________________________] 16.60% 116 p/s712 / 4150 [------------>___________________________________________________________] 17.16% 116 p/s735 / 4150 [------------>___________________________________________________________] 17.71% 116 p/s758 / 4150 [------------->__________________________________________________________] 18.27% 116 p/s781 / 4150 [------------->__________________________________________________________] 18.82% 116 p/s804 / 4150 [------------->__________________________________________________________] 19.37% 116 p/s827 / 4150 [-------------->_________________________________________________________] 19.93% 116 p/s850 / 4150 [-------------->_________________________________________________________] 20.48% 116 p/s872 / 4150 [--------------->________________________________________________________] 21.01% 116 p/s895 / 4150 [--------------->________________________________________________________] 21.57% 116 p/s918 / 4150 [--------------->________________________________________________________] 22.12% 116 p/s941 / 4150 [---------------->_______________________________________________________] 22.67% 116 p/s964 / 4150 [---------------->_______________________________________________________] 23.23% 116 p/s987 / 4150 [----------------->______________________________________________________] 23.78% 115 p/s1010 / 4150 [----------------->_____________________________________________________] 24.34% 115 p/s1032 / 4150 [----------------->_____________________________________________________] 24.87% 115 p/s1055 / 4150 [------------------>____________________________________________________] 25.42% 115 p/s1078 / 4150 [------------------>____________________________________________________] 25.98% 115 p/s1100 / 4150 [------------------>____________________________________________________] 26.51% 115 p/s1123 / 4150 [------------------->___________________________________________________] 27.06% 115 p/s1146 / 4150 [------------------->___________________________________________________] 27.61% 115 p/s1168 / 4150 [------------------->___________________________________________________] 28.14% 115 p/s1191 / 4150 [-------------------->__________________________________________________] 28.70% 115 p/s1214 / 4150 [-------------------->__________________________________________________] 29.25% 115 p/s1237 / 4150 [--------------------->_________________________________________________] 29.81% 115 p/s1259 / 4150 [--------------------->_________________________________________________] 30.34% 115 p/s1282 / 4150 [--------------------->_________________________________________________] 30.89% 115 p/s1305 / 4150 [---------------------->________________________________________________] 31.45% 115 p/s1327 / 4150 [---------------------->________________________________________________] 31.98% 115 p/s1350 / 4150 [----------------------->_______________________________________________] 32.53% 115 p/s1373 / 4150 [----------------------->_______________________________________________] 33.08% 115 p/s1396 / 4150 [----------------------->_______________________________________________] 33.64% 115 p/s1419 / 4150 [------------------------>______________________________________________] 34.19% 115 p/s1442 / 4150 [------------------------>______________________________________________] 34.75% 115 p/s1464 / 4150 [------------------------->_____________________________________________] 35.28% 115 p/s1487 / 4150 [------------------------->_____________________________________________] 35.83% 115 p/s1510 / 4150 [------------------------->_____________________________________________] 36.39% 115 p/s1533 / 4150 [-------------------------->____________________________________________] 36.94% 115 p/s1556 / 4150 [-------------------------->____________________________________________] 37.49% 115 p/s1578 / 4150 [-------------------------->____________________________________________] 38.02% 115 p/s1601 / 4150 [--------------------------->___________________________________________] 38.58% 115 p/s1624 / 4150 [--------------------------->___________________________________________] 39.13% 115 p/s1646 / 4150 [---------------------------->__________________________________________] 39.66% 115 p/s1669 / 4150 [---------------------------->__________________________________________] 40.22% 115 p/s1692 / 4150 [---------------------------->__________________________________________] 40.77% 115 p/s1715 / 4150 [----------------------------->_________________________________________] 41.33% 115 p/s1737 / 4150 [----------------------------->_________________________________________] 41.86% 115 p/s1759 / 4150 [------------------------------>________________________________________] 42.39% 115 p/s1782 / 4150 [------------------------------>________________________________________] 42.94% 115 p/s1805 / 4150 [------------------------------>________________________________________] 43.49% 114 p/s1827 / 4150 [------------------------------->_______________________________________] 44.02% 114 p/s1849 / 4150 [------------------------------->_______________________________________] 44.55% 114 p/s1871 / 4150 [-------------------------------->______________________________________] 45.08% 114 p/s1894 / 4150 [-------------------------------->______________________________________] 45.64% 114 p/s1916 / 4150 [-------------------------------->______________________________________] 46.17% 114 p/s1939 / 4150 [--------------------------------->_____________________________________] 46.72% 114 p/s1962 / 4150 [--------------------------------->_____________________________________] 47.28% 114 p/s1982 / 4150 [--------------------------------->_____________________________________] 47.76% 114 p/s2005 / 4150 [---------------------------------->____________________________________] 48.31% 114 p/s2028 / 4150 [---------------------------------->____________________________________] 48.87% 114 p/s2050 / 4150 [----------------------------------->___________________________________] 49.40% 114 p/s2072 / 4150 [----------------------------------->___________________________________] 49.93% 114 p/s2094 / 4150 [----------------------------------->___________________________________] 50.46% 114 p/s2116 / 4150 [------------------------------------>__________________________________] 50.99% 114 p/s2139 / 4150 [------------------------------------>__________________________________] 51.54% 114 p/s2161 / 4150 [------------------------------------>__________________________________] 52.07% 114 p/s2184 / 4150 [------------------------------------->_________________________________] 52.63% 114 p/s2206 / 4150 [------------------------------------->_________________________________] 53.16% 113 p/s2220 / 4150 [------------------------------------->_________________________________] 53.49% 113 p/s2242 / 4150 [-------------------------------------->________________________________] 54.02% 113 p/s2265 / 4150 [-------------------------------------->________________________________] 54.58% 112 p/s2288 / 4150 [--------------------------------------->_______________________________] 55.13% 112 p/s2310 / 4150 [--------------------------------------->_______________________________] 55.66% 112 p/s2333 / 4150 [--------------------------------------->_______________________________] 56.22% 113 p/s2356 / 4150 [---------------------------------------->______________________________] 56.77% 113 p/s2379 / 4150 [---------------------------------------->______________________________] 57.33% 113 p/s2401 / 4150 [----------------------------------------->_____________________________] 57.86% 113 p/s2424 / 4150 [----------------------------------------->_____________________________] 58.41% 113 p/s2446 / 4150 [----------------------------------------->_____________________________] 58.94% 113 p/s2469 / 4150 [------------------------------------------>____________________________] 59.49% 113 p/s2491 / 4150 [------------------------------------------>____________________________] 60.02% 113 p/s2513 / 4150 [------------------------------------------>____________________________] 60.55% 113 p/s2535 / 4150 [------------------------------------------->___________________________] 61.08% 112 p/s2558 / 4150 [------------------------------------------->___________________________] 61.64% 112 p/s2581 / 4150 [-------------------------------------------->__________________________] 62.19% 112 p/s2604 / 4150 [-------------------------------------------->__________________________] 62.75% 113 p/s2626 / 4150 [-------------------------------------------->__________________________] 63.28% 113 p/s2648 / 4150 [--------------------------------------------->_________________________] 63.81% 113 p/s2671 / 4150 [--------------------------------------------->_________________________] 64.36% 113 p/s2694 / 4150 [---------------------------------------------->________________________] 64.92% 113 p/s2717 / 4150 [---------------------------------------------->________________________] 65.47% 113 p/s2738 / 4150 [---------------------------------------------->________________________] 65.98% 113 p/s2759 / 4150 [----------------------------------------------->_______________________] 66.48% 113 p/s2765 / 4150 [----------------------------------------------->_______________________] 66.63% 113 p/s2786 / 4150 [----------------------------------------------->_______________________] 67.13% 110 p/s2809 / 4150 [------------------------------------------------>______________________] 67.69% 110 p/s2831 / 4150 [------------------------------------------------>______________________] 68.22% 110 p/s2853 / 4150 [------------------------------------------------>______________________] 68.75% 110 p/s2876 / 4150 [------------------------------------------------->_____________________] 69.30% 110 p/s2899 / 4150 [------------------------------------------------->_____________________] 69.86% 110 p/s2921 / 4150 [------------------------------------------------->_____________________] 70.39% 111 p/s2944 / 4150 [-------------------------------------------------->____________________] 70.94% 111 p/s2966 / 4150 [-------------------------------------------------->____________________] 71.47% 111 p/s2989 / 4150 [--------------------------------------------------->___________________] 72.02% 111 p/s3011 / 4150 [--------------------------------------------------->___________________] 72.55% 111 p/s3034 / 4150 [--------------------------------------------------->___________________] 73.11% 111 p/s3057 / 4150 [---------------------------------------------------->__________________] 73.66% 111 p/s3080 / 4150 [---------------------------------------------------->__________________] 74.22% 111 p/s3102 / 4150 [----------------------------------------------------->_________________] 74.75% 111 p/s3125 / 4150 [----------------------------------------------------->_________________] 75.30% 111 p/s3147 / 4150 [----------------------------------------------------->_________________] 75.83% 111 p/s3171 / 4150 [------------------------------------------------------>________________] 76.41% 111 p/s3193 / 4150 [------------------------------------------------------>________________] 76.94% 111 p/s3216 / 4150 [------------------------------------------------------->_______________] 77.49% 111 p/s3238 / 4150 [------------------------------------------------------->_______________] 78.02% 111 p/s3259 / 4150 [------------------------------------------------------->_______________] 78.53% 111 p/s3282 / 4150 [-------------------------------------------------------->______________] 79.08% 111 p/s3304 / 4150 [-------------------------------------------------------->______________] 79.61% 111 p/s3309 / 4150 [-------------------------------------------------------->______________] 79.73% 109 p/s3324 / 4150 [-------------------------------------------------------->______________] 80.10% 109 p/s3333 / 4150 [--------------------------------------------------------->_____________] 80.31% 109 p/s3356 / 4150 [--------------------------------------------------------->_____________] 80.87% 107 p/s3376 / 4150 [--------------------------------------------------------->_____________] 81.35% 107 p/s3398 / 4150 [---------------------------------------------------------->____________] 81.88% 107 p/s3416 / 4150 [---------------------------------------------------------->____________] 82.31% 107 p/s3435 / 4150 [---------------------------------------------------------->____________] 82.77% 107 p/s3456 / 4150 [----------------------------------------------------------->___________] 83.28% 107 p/s3477 / 4150 [----------------------------------------------------------->___________] 83.78% 107 p/s3500 / 4150 [----------------------------------------------------------->___________] 84.34% 107 p/s3521 / 4150 [------------------------------------------------------------>__________] 84.84% 107 p/s3542 / 4150 [------------------------------------------------------------>__________] 85.35% 107 p/s3563 / 4150 [------------------------------------------------------------>__________] 85.86% 107 p/s3582 / 4150 [------------------------------------------------------------->_________] 86.31% 107 p/s3603 / 4150 [------------------------------------------------------------->_________] 86.82% 106 p/s3624 / 4150 [-------------------------------------------------------------->________] 87.33% 106 p/s3644 / 4150 [-------------------------------------------------------------->________] 87.81% 106 p/s3666 / 4150 [-------------------------------------------------------------->________] 88.34% 106 p/s3686 / 4150 [--------------------------------------------------------------->_______] 88.82% 106 p/s3708 / 4150 [--------------------------------------------------------------->_______] 89.35% 106 p/s3729 / 4150 [--------------------------------------------------------------->_______] 89.86% 106 p/s3748 / 4150 [---------------------------------------------------------------->______] 90.31% 106 p/s3769 / 4150 [---------------------------------------------------------------->______] 90.82% 106 p/s3792 / 4150 [---------------------------------------------------------------->______] 91.37% 106 p/s3798 / 4150 [---------------------------------------------------------------->______] 91.52% 106 p/s3809 / 4150 [----------------------------------------------------------------->_____] 91.78% 106 p/s3832 / 4150 [----------------------------------------------------------------->_____] 92.34% 104 p/s3855 / 4150 [----------------------------------------------------------------->_____] 92.89% 104 p/s3877 / 4150 [------------------------------------------------------------------>____] 93.42% 104 p/s3899 / 4150 [------------------------------------------------------------------>____] 93.95% 104 p/s3921 / 4150 [------------------------------------------------------------------->___] 94.48% 104 p/s3943 / 4150 [------------------------------------------------------------------->___] 95.01% 104 p/s3966 / 4150 [------------------------------------------------------------------->___] 95.57% 105 p/s3988 / 4150 [-------------------------------------------------------------------->__] 96.10% 105 p/s4009 / 4150 [-------------------------------------------------------------------->__] 96.60% 105 p/s4030 / 4150 [-------------------------------------------------------------------->__] 97.11% 105 p/s4052 / 4150 [--------------------------------------------------------------------->_] 97.64% 105 p/s4074 / 4150 [--------------------------------------------------------------------->_] 98.17% 105 p/s4094 / 4150 [---------------------------------------------------------------------->] 98.65% 105 p/s4114 / 4150 [---------------------------------------------------------------------->] 99.13% 105 p/s4136 / 4150 [---------------------------------------------------------------------->] 99.66% 105 p/s4150 / 4150 [----------------------------------------------------------------------] 100.00% 110 p/s2026-04-21T01:22:38 - INFO: Parsing 4150 sonar sweeps from /working/e7246565-2d67-1aff-cf2c-ee533440ecf3/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/4150 [00:00<?, ?it/s]
  0%|          | 3/4150 [00:00<02:29, 27.75it/s]
  0%|          | 6/4150 [00:00<02:27, 28.12it/s]
  0%|          | 9/4150 [00:00<02:26, 28.18it/s]
  0%|          | 12/4150 [00:00<02:26, 28.20it/s]
  0%|          | 15/4150 [00:00<02:26, 28.29it/s]
  0%|          | 18/4150 [00:00<02:26, 28.25it/s]
  1%|          | 21/4150 [00:00<02:26, 28.25it/s]
  1%|          | 24/4150 [00:00<02:26, 28.25it/s]
  1%|          | 27/4150 [00:00<02:26, 28.12it/s]
  1%|          | 30/4150 [00:01<02:27, 27.93it/s]
  1%|          | 33/4150 [00:01<02:28, 27.79it/s]
  1%|          | 36/4150 [00:01<02:27, 27.96it/s]
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  1%|          | 42/4150 [00:01<02:26, 28.11it/s]
  1%|          | 45/4150 [00:01<03:14, 21.10it/s]
  1%|          | 48/4150 [00:01<02:59, 22.86it/s]
  1%|          | 51/4150 [00:01<02:48, 24.27it/s]
  1%|▏         | 54/4150 [00:02<02:41, 25.36it/s]
  1%|▏         | 57/4150 [00:02<02:36, 26.16it/s]
  1%|▏         | 60/4150 [00:02<02:32, 26.76it/s]
  2%|▏         | 63/4150 [00:02<02:30, 27.22it/s]
  2%|▏         | 66/4150 [00:02<02:34, 26.41it/s]
  2%|▏         | 69/4150 [00:02<02:31, 26.88it/s]
  2%|▏         | 72/4150 [00:02<02:29, 27.26it/s]
  2%|▏         | 75/4150 [00:02<02:28, 27.53it/s]
  2%|▏         | 78/4150 [00:02<02:26, 27.71it/s]
  2%|▏         | 81/4150 [00:03<02:26, 27.84it/s]
  2%|▏         | 84/4150 [00:03<02:25, 27.96it/s]
  2%|▏         | 87/4150 [00:03<02:25, 28.01it/s]
  2%|▏         | 90/4150 [00:03<02:24, 28.07it/s]
  2%|▏         | 93/4150 [00:03<02:24, 28.08it/s]
  2%|▏         | 96/4150 [00:03<02:23, 28.16it/s]
  2%|▏         | 99/4150 [00:03<02:23, 28.15it/s]
  2%|▏         | 102/4150 [00:03<02:23, 28.13it/s]
  3%|▎         | 105/4150 [00:03<02:23, 28.11it/s]
  3%|▎         | 108/4150 [00:03<02:23, 28.13it/s]
  3%|▎         | 111/4150 [00:04<02:23, 28.10it/s]
  3%|▎         | 114/4150 [00:04<02:23, 28.08it/s]
  3%|▎         | 117/4150 [00:04<02:23, 28.06it/s]
  3%|▎         | 120/4150 [00:04<02:23, 28.10it/s]
  3%|▎         | 123/4150 [00:04<02:23, 28.08it/s]
  3%|▎         | 126/4150 [00:04<02:23, 28.06it/s]
  3%|▎         | 129/4150 [00:04<02:23, 28.07it/s]
  3%|▎         | 132/4150 [00:04<02:23, 28.07it/s]
  3%|▎         | 135/4150 [00:04<02:23, 28.06it/s]
  3%|▎         | 138/4150 [00:05<02:23, 28.04it/s]
  3%|▎         | 141/4150 [00:05<02:23, 28.03it/s]
  3%|▎         | 144/4150 [00:05<02:22, 28.04it/s]
  4%|▎         | 147/4150 [00:05<02:22, 28.05it/s]
  4%|▎         | 150/4150 [00:05<02:22, 28.05it/s]
  4%|▎         | 153/4150 [00:05<02:22, 28.06it/s]
  4%|▍         | 156/4150 [00:05<02:22, 28.07it/s]
  4%|▍         | 159/4150 [00:05<02:22, 28.04it/s]
  4%|▍         | 162/4150 [00:05<02:22, 28.04it/s]
  4%|▍         | 165/4150 [00:05<02:21, 28.07it/s]
  4%|▍         | 168/4150 [00:06<02:21, 28.15it/s]
  4%|▍         | 171/4150 [00:06<02:21, 28.17it/s]
  4%|▍         | 174/4150 [00:06<02:21, 28.16it/s]
  4%|▍         | 177/4150 [00:06<02:20, 28.18it/s]
  4%|▍         | 180/4150 [00:06<02:20, 28.19it/s]
  4%|▍         | 183/4150 [00:06<02:59, 22.16it/s]
  4%|▍         | 186/4150 [00:06<02:47, 23.66it/s]
  5%|▍         | 189/4150 [00:06<02:39, 24.85it/s]
  5%|▍         | 192/4150 [00:07<02:33, 25.75it/s]
  5%|▍         | 195/4150 [00:07<02:29, 26.42it/s]
  5%|▍         | 198/4150 [00:07<02:26, 26.92it/s]
  5%|▍         | 201/4150 [00:07<02:30, 26.20it/s]
  5%|▍         | 204/4150 [00:07<02:27, 26.72it/s]
  5%|▍         | 207/4150 [00:07<02:25, 27.10it/s]
  5%|▌         | 210/4150 [00:07<02:23, 27.39it/s]
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  7%|▋         | 285/4150 [00:10<02:18, 27.82it/s]
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  7%|▋         | 309/4150 [00:11<02:17, 27.85it/s]
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  9%|▊         | 363/4150 [00:13<02:17, 27.60it/s]
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2026-04-21T01:25:13 - 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-sample-offset -1 /working/e7246565-2d67-1aff-cf2c-ee533440ecf3/e7246565-2d67-1aff-cf2c-ee533440ecf3"
2026-04-21T01:25:15 - INFO: DataPrep 0.14.4
2026-04-21T01:25:15 - INFO: Prepared data will be output to /working/e7246565-2d67-1aff-cf2c-ee533440ecf3/e7246565-2d67-1aff-cf2c-ee533440ecf3/processing/data
2026-04-21T01:25:15 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-04-21T01:25:15 - deployment - INFO: Detected P3D version: P3D_1
2026-04-21T01:25:15 - INFO: Recording GUID: e7246565-2d67-1aff-cf2c-ee533440ecf3
2026-04-21T01:25:15 - INFO: Preparing sonar data...
2026-04-21T01:25:15 - INFO: /working/e7246565-2d67-1aff-cf2c-ee533440ecf3/e7246565-2d67-1aff-cf2c-ee533440ecf3/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-04-21T01:25:19 - INFO: Sonar epoch is 2026-03-11 21:13:10.180902+00:00 (1773263590180902060)
2026-04-21T01:25:19 - INFO: Creating sonar sensor alignment track...
2026-04-21T01:25:19 - INFO: Using sonar rotation of -0.244346 radians for wedge mask
2026-04-21T01:25:19 - INFO: Sensor speed of sound is 1500 m/s
2026-04-21T01:25:19 - INFO: Sensor range is 1.661520 m
2026-04-21T01:25:19 - INFO: Sensor micrometres per sample is 5520.000014
2026-04-21T01:25:19 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-04-21T01:25:19 - INFO: Scaled range is 1.655415 m
2026-04-21T01:25:19 - INFO: Scaled micrometres per sample is 5499.718021
2026-04-21T01:25:19 - INFO: Processing 4150 sweeps...

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2026-04-21T01:25:35 - INFO: Prepared sonar data in 19.8998 s
2026-04-21T01:25:35 - INFO: No IMU data found
2026-04-21T01:25:35 - INFO: DataPrep took 0:00:20.507893
2026-04-21T01:25:35 - INFO: Extracted sonar data in 0:03:35.158231
2026-04-21T01:25:36 - INFO: MSIP3D took 0:03:35.738420