2026-05-20T16:42:00 - INFO: MSIP3D 0.2.6
2026-05-20T16:42:00 - INFO: P3D files will be output to /working/ee7cdc54-5ea6-1a44-ffa9-cb969bc10308/ee7cdc54-5ea6-1a44-ffa9-cb969bc10308
2026-05-20T16:42:00 - INFO: Found 10 TFD dictionary entries
2026-05-20T16:42:01 - INFO: Found TFD mission for SJ502847 DEP 1
2026-05-20T16:42:01 - INFO: Recording will be processed as MD
2026-05-20T16:42:01 - INFO: Preparing counter data...
2026-05-20T16:42:01 - INFO: Interpreting counter as imperial
2026-05-20T16:42:01 - INFO: Prepared counter data in 0.1562 s
2026-05-20T16:42:01 - INFO: Extracting sonar data...
TFD path: /working/ee7cdc54-5ea6-1a44-ffa9-cb969bc10308/tfd/SJ502847_DEP_1.tfd
TFD path: /working/ee7cdc54-5ea6-1a44-ffa9-cb969bc10308/tfd/output
Name: LASER, Tag: 4855215974206753356
Name: CCTV, Tag: 4855215974206753347
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012079240663880375
Getting track SONAR
Number of frames: 5512
21 / 5512 [>___________________________________________________________________________] 0.38% ? p/s44 / 5512 [>___________________________________________________________________________] 0.80% ? p/s65 / 5512 [>___________________________________________________________________________] 1.18% ? p/s88 / 5512 [->________________________________________________________________________] 1.60% 112 p/s111 / 5512 [->_______________________________________________________________________] 2.01% 112 p/s133 / 5512 [->_______________________________________________________________________] 2.41% 112 p/s155 / 5512 [-->______________________________________________________________________] 2.81% 112 p/s178 / 5512 [-->______________________________________________________________________] 3.23% 112 p/s200 / 5512 [-->______________________________________________________________________] 3.63% 112 p/s222 / 5512 [-->______________________________________________________________________] 4.03% 112 p/s245 / 5512 [--->_____________________________________________________________________] 4.44% 112 p/s267 / 5512 [--->_____________________________________________________________________] 4.84% 112 p/s290 / 5512 [--->_____________________________________________________________________] 5.26% 112 p/s311 / 5512 [---->____________________________________________________________________] 5.64% 112 p/s334 / 5512 [---->____________________________________________________________________] 6.06% 112 p/s356 / 5512 [---->____________________________________________________________________] 6.46% 112 p/s379 / 5512 [----->___________________________________________________________________] 6.88% 112 p/s402 / 5512 [----->___________________________________________________________________] 7.29% 112 p/s425 / 5512 [----->___________________________________________________________________] 7.71% 112 p/s448 / 5512 [----->___________________________________________________________________] 8.13% 112 p/s470 / 5512 [------>__________________________________________________________________] 8.53% 112 p/s493 / 5512 [------>__________________________________________________________________] 8.94% 112 p/s515 / 5512 [------>__________________________________________________________________] 9.34% 112 p/s537 / 5512 [------->_________________________________________________________________] 9.74% 112 p/s560 / 5512 [------->________________________________________________________________] 10.16% 112 p/s582 / 5512 [------->________________________________________________________________] 10.56% 112 p/s605 / 5512 [------->________________________________________________________________] 10.98% 112 p/s628 / 5512 [-------->_______________________________________________________________] 11.39% 112 p/s650 / 5512 [-------->_______________________________________________________________] 11.79% 112 p/s673 / 5512 [-------->_______________________________________________________________] 12.21% 112 p/s696 / 5512 [--------->______________________________________________________________] 12.63% 112 p/s719 / 5512 [--------->______________________________________________________________] 13.04% 112 p/s742 / 5512 [--------->______________________________________________________________] 13.46% 112 p/s765 / 5512 [--------->______________________________________________________________] 13.88% 112 p/s788 / 5512 [---------->_____________________________________________________________] 14.30% 112 p/s810 / 5512 [---------->_____________________________________________________________] 14.70% 112 p/s833 / 5512 [---------->_____________________________________________________________] 15.11% 112 p/s856 / 5512 [----------->____________________________________________________________] 15.53% 112 p/s879 / 5512 [----------->____________________________________________________________] 15.95% 112 p/s902 / 5512 [----------->____________________________________________________________] 16.36% 113 p/s925 / 5512 [------------>___________________________________________________________] 16.78% 113 p/s948 / 5512 [------------>___________________________________________________________] 17.20% 113 p/s970 / 5512 [------------>___________________________________________________________] 17.60% 113 p/s993 / 5512 [------------>___________________________________________________________] 18.02% 113 p/s1016 / 5512 [------------->_________________________________________________________] 18.43% 113 p/s1038 / 5512 [------------->_________________________________________________________] 18.83% 113 p/s1061 / 5512 [------------->_________________________________________________________] 19.25% 113 p/s1084 / 5512 [------------->_________________________________________________________] 19.67% 113 p/s1108 / 5512 [-------------->________________________________________________________] 20.10% 113 p/s1131 / 5512 [-------------->________________________________________________________] 20.52% 113 p/s1153 / 5512 [-------------->________________________________________________________] 20.92% 113 p/s1177 / 5512 [--------------->_______________________________________________________] 21.35% 113 p/s1199 / 5512 [--------------->_______________________________________________________] 21.75% 113 p/s1223 / 5512 [--------------->_______________________________________________________] 22.19% 113 p/s1245 / 5512 [---------------->______________________________________________________] 22.59% 113 p/s1268 / 5512 [---------------->______________________________________________________] 23.00% 113 p/s1291 / 5512 [---------------->______________________________________________________] 23.42% 113 p/s1314 / 5512 [---------------->______________________________________________________] 23.84% 113 p/s1337 / 5512 [----------------->_____________________________________________________] 24.26% 113 p/s1360 / 5512 [----------------->_____________________________________________________] 24.67% 113 p/s1383 / 5512 [----------------->_____________________________________________________] 25.09% 113 p/s1406 / 5512 [------------------>____________________________________________________] 25.51% 113 p/s1430 / 5512 [------------------>____________________________________________________] 25.94% 113 p/s1453 / 5512 [------------------>____________________________________________________] 26.36% 114 p/s1476 / 5512 [------------------->___________________________________________________] 26.78% 114 p/s1499 / 5512 [------------------->___________________________________________________] 27.20% 114 p/s1522 / 5512 [------------------->___________________________________________________] 27.61% 114 p/s1545 / 5512 [------------------->___________________________________________________] 28.03% 114 p/s1568 / 5512 [-------------------->__________________________________________________] 28.45% 114 p/s1591 / 5512 [-------------------->__________________________________________________] 28.86% 114 p/s1614 / 5512 [-------------------->__________________________________________________] 29.28% 114 p/s1637 / 5512 [--------------------->_________________________________________________] 29.70% 114 p/s1660 / 5512 [--------------------->_________________________________________________] 30.12% 114 p/s1683 / 5512 [--------------------->_________________________________________________] 30.53% 114 p/s1706 / 5512 [--------------------->_________________________________________________] 30.95% 114 p/s1729 / 5512 [---------------------->________________________________________________] 31.37% 114 p/s1752 / 5512 [---------------------->________________________________________________] 31.79% 114 p/s1776 / 5512 [---------------------->________________________________________________] 32.22% 114 p/s1799 / 5512 [----------------------->_______________________________________________] 32.64% 114 p/s1822 / 5512 [----------------------->_______________________________________________] 33.06% 114 p/s1845 / 5512 [----------------------->_______________________________________________] 33.47% 114 p/s1867 / 5512 [------------------------>______________________________________________] 33.87% 114 p/s1891 / 5512 [------------------------>______________________________________________] 34.31% 114 p/s1913 / 5512 [------------------------>______________________________________________] 34.71% 114 p/s1936 / 5512 [------------------------>______________________________________________] 35.12% 114 p/s1959 / 5512 [------------------------->_____________________________________________] 35.54% 114 p/s1982 / 5512 [------------------------->_____________________________________________] 35.96% 114 p/s2005 / 5512 [------------------------->_____________________________________________] 36.38% 114 p/s2027 / 5512 [-------------------------->____________________________________________] 36.77% 114 p/s2049 / 5512 [-------------------------->____________________________________________] 37.17% 114 p/s2071 / 5512 [-------------------------->____________________________________________] 37.57% 114 p/s2094 / 5512 [-------------------------->____________________________________________] 37.99% 114 p/s2117 / 5512 [--------------------------->___________________________________________] 38.41% 114 p/s2140 / 5512 [--------------------------->___________________________________________] 38.82% 114 p/s2163 / 5512 [--------------------------->___________________________________________] 39.24% 114 p/s2185 / 5512 [---------------------------->__________________________________________] 39.64% 114 p/s2208 / 5512 [---------------------------->__________________________________________] 40.06% 114 p/s2231 / 5512 [---------------------------->__________________________________________] 40.48% 114 p/s2254 / 5512 [----------------------------->_________________________________________] 40.89% 114 p/s2277 / 5512 [----------------------------->_________________________________________] 41.31% 114 p/s2300 / 5512 [----------------------------->_________________________________________] 41.73% 114 p/s2323 / 5512 [----------------------------->_________________________________________] 42.14% 114 p/s2346 / 5512 [------------------------------>________________________________________] 42.56% 114 p/s2369 / 5512 [------------------------------>________________________________________] 42.98% 114 p/s2392 / 5512 [------------------------------>________________________________________] 43.40% 114 p/s2415 / 5512 [------------------------------->_______________________________________] 43.81% 114 p/s2438 / 5512 [------------------------------->_______________________________________] 44.23% 114 p/s2461 / 5512 [------------------------------->_______________________________________] 44.65% 114 p/s2484 / 5512 [------------------------------->_______________________________________] 45.07% 114 p/s2507 / 5512 [-------------------------------->______________________________________] 45.48% 114 p/s2530 / 5512 [-------------------------------->______________________________________] 45.90% 114 p/s2554 / 5512 [-------------------------------->______________________________________] 46.34% 114 p/s2577 / 5512 [--------------------------------->_____________________________________] 46.75% 114 p/s2600 / 5512 [--------------------------------->_____________________________________] 47.17% 114 p/s2623 / 5512 [--------------------------------->_____________________________________] 47.59% 114 p/s2647 / 5512 [---------------------------------->____________________________________] 48.02% 114 p/s2670 / 5512 [---------------------------------->____________________________________] 48.44% 114 p/s2693 / 5512 [---------------------------------->____________________________________] 48.86% 115 p/s2716 / 5512 [---------------------------------->____________________________________] 49.27% 115 p/s2740 / 5512 [----------------------------------->___________________________________] 49.71% 115 p/s2763 / 5512 [----------------------------------->___________________________________] 50.13% 115 p/s2787 / 5512 [----------------------------------->___________________________________] 50.56% 115 p/s2810 / 5512 [------------------------------------>__________________________________] 50.98% 115 p/s2833 / 5512 [------------------------------------>__________________________________] 51.40% 115 p/s2857 / 5512 [------------------------------------>__________________________________] 51.83% 115 p/s2880 / 5512 [------------------------------------->_________________________________] 52.25% 115 p/s2903 / 5512 [------------------------------------->_________________________________] 52.67% 115 p/s2927 / 5512 [------------------------------------->_________________________________] 53.10% 115 p/s2951 / 5512 [-------------------------------------->________________________________] 53.54% 115 p/s2974 / 5512 [-------------------------------------->________________________________] 53.96% 115 p/s2998 / 5512 [-------------------------------------->________________________________] 54.39% 115 p/s3022 / 5512 [-------------------------------------->________________________________] 54.83% 115 p/s3045 / 5512 [--------------------------------------->_______________________________] 55.24% 115 p/s3069 / 5512 [--------------------------------------->_______________________________] 55.68% 115 p/s3093 / 5512 [--------------------------------------->_______________________________] 56.11% 115 p/s3116 / 5512 [---------------------------------------->______________________________] 56.53% 116 p/s3140 / 5512 [---------------------------------------->______________________________] 56.97% 116 p/s3164 / 5512 [---------------------------------------->______________________________] 57.40% 116 p/s3188 / 5512 [----------------------------------------->_____________________________] 57.84% 116 p/s3211 / 5512 [----------------------------------------->_____________________________] 58.25% 116 p/s3235 / 5512 [----------------------------------------->_____________________________] 58.69% 116 p/s3258 / 5512 [----------------------------------------->_____________________________] 59.11% 116 p/s3282 / 5512 [------------------------------------------>____________________________] 59.54% 116 p/s3306 / 5512 [------------------------------------------>____________________________] 59.98% 116 p/s3329 / 5512 [------------------------------------------>____________________________] 60.40% 116 p/s3352 / 5512 [------------------------------------------->___________________________] 60.81% 116 p/s3376 / 5512 [------------------------------------------->___________________________] 61.25% 116 p/s3399 / 5512 [------------------------------------------->___________________________] 61.67% 116 p/s3423 / 5512 [-------------------------------------------->__________________________] 62.10% 116 p/s3446 / 5512 [-------------------------------------------->__________________________] 62.52% 116 p/s3470 / 5512 [-------------------------------------------->__________________________] 62.95% 116 p/s3494 / 5512 [--------------------------------------------->_________________________] 63.39% 116 p/s3517 / 5512 [--------------------------------------------->_________________________] 63.81% 116 p/s3540 / 5512 [--------------------------------------------->_________________________] 64.22% 116 p/s3563 / 5512 [--------------------------------------------->_________________________] 64.64% 116 p/s3586 / 5512 [---------------------------------------------->________________________] 65.06% 116 p/s3610 / 5512 [---------------------------------------------->________________________] 65.49% 116 p/s3633 / 5512 [---------------------------------------------->________________________] 65.91% 116 p/s3656 / 5512 [----------------------------------------------->_______________________] 66.33% 116 p/s3679 / 5512 [----------------------------------------------->_______________________] 66.75% 116 p/s3703 / 5512 [----------------------------------------------->_______________________] 67.18% 116 p/s3726 / 5512 [----------------------------------------------->_______________________] 67.60% 116 p/s3749 / 5512 [------------------------------------------------>______________________] 68.02% 116 p/s3772 / 5512 [------------------------------------------------>______________________] 68.43% 116 p/s3795 / 5512 [------------------------------------------------>______________________] 68.85% 116 p/s3818 / 5512 [------------------------------------------------->_____________________] 69.27% 116 p/s3841 / 5512 [------------------------------------------------->_____________________] 69.68% 116 p/s3864 / 5512 [------------------------------------------------->_____________________] 70.10% 116 p/s3887 / 5512 [-------------------------------------------------->____________________] 70.52% 116 p/s3910 / 5512 [-------------------------------------------------->____________________] 70.94% 116 p/s3933 / 5512 [-------------------------------------------------->____________________] 71.35% 116 p/s3956 / 5512 [-------------------------------------------------->____________________] 71.77% 116 p/s3980 / 5512 [--------------------------------------------------->___________________] 72.21% 116 p/s4003 / 5512 [--------------------------------------------------->___________________] 72.62% 116 p/s4025 / 5512 [--------------------------------------------------->___________________] 73.02% 116 p/s4048 / 5512 [---------------------------------------------------->__________________] 73.44% 116 p/s4071 / 5512 [---------------------------------------------------->__________________] 73.86% 116 p/s4093 / 5512 [---------------------------------------------------->__________________] 74.26% 116 p/s4116 / 5512 [----------------------------------------------------->_________________] 74.67% 116 p/s4139 / 5512 [----------------------------------------------------->_________________] 75.09% 116 p/s4162 / 5512 [----------------------------------------------------->_________________] 75.51% 116 p/s4185 / 5512 [----------------------------------------------------->_________________] 75.93% 116 p/s4208 / 5512 [------------------------------------------------------>________________] 76.34% 116 p/s4231 / 5512 [------------------------------------------------------>________________] 76.76% 116 p/s4254 / 5512 [------------------------------------------------------>________________] 77.18% 116 p/s4277 / 5512 [------------------------------------------------------->_______________] 77.59% 116 p/s4300 / 5512 [------------------------------------------------------->_______________] 78.01% 116 p/s4323 / 5512 [------------------------------------------------------->_______________] 78.43% 116 p/s4345 / 5512 [------------------------------------------------------->_______________] 78.83% 116 p/s4368 / 5512 [-------------------------------------------------------->______________] 79.25% 115 p/s4391 / 5512 [-------------------------------------------------------->______________] 79.66% 115 p/s4414 / 5512 [-------------------------------------------------------->______________] 80.08% 115 p/s4436 / 5512 [--------------------------------------------------------->_____________] 80.48% 115 p/s4459 / 5512 [--------------------------------------------------------->_____________] 80.90% 115 p/s4482 / 5512 [--------------------------------------------------------->_____________] 81.31% 115 p/s4505 / 5512 [---------------------------------------------------------->____________] 81.73% 115 p/s4528 / 5512 [---------------------------------------------------------->____________] 82.15% 115 p/s4551 / 5512 [---------------------------------------------------------->____________] 82.57% 115 p/s4574 / 5512 [---------------------------------------------------------->____________] 82.98% 115 p/s4596 / 5512 [----------------------------------------------------------->___________] 83.38% 115 p/s4619 / 5512 [----------------------------------------------------------->___________] 83.80% 115 p/s4642 / 5512 [----------------------------------------------------------->___________] 84.22% 115 p/s4665 / 5512 [------------------------------------------------------------>__________] 84.63% 115 p/s4688 / 5512 [------------------------------------------------------------>__________] 85.05% 115 p/s4711 / 5512 [------------------------------------------------------------>__________] 85.47% 115 p/s4734 / 5512 [------------------------------------------------------------>__________] 85.89% 115 p/s4757 / 5512 [------------------------------------------------------------->_________] 86.30% 115 p/s4779 / 5512 [------------------------------------------------------------->_________] 86.70% 115 p/s4802 / 5512 [------------------------------------------------------------->_________] 87.12% 115 p/s4825 / 5512 [-------------------------------------------------------------->________] 87.54% 115 p/s4848 / 5512 [-------------------------------------------------------------->________] 87.95% 115 p/s4870 / 5512 [-------------------------------------------------------------->________] 88.35% 115 p/s4893 / 5512 [--------------------------------------------------------------->_______] 88.77% 115 p/s4916 / 5512 [--------------------------------------------------------------->_______] 89.19% 115 p/s4939 / 5512 [--------------------------------------------------------------->_______] 89.60% 115 p/s4962 / 5512 [--------------------------------------------------------------->_______] 90.02% 115 p/s4984 / 5512 [---------------------------------------------------------------->______] 90.42% 115 p/s5007 / 5512 [---------------------------------------------------------------->______] 90.84% 115 p/s5030 / 5512 [---------------------------------------------------------------->______] 91.26% 115 p/s5053 / 5512 [----------------------------------------------------------------->_____] 91.67% 115 p/s5075 / 5512 [----------------------------------------------------------------->_____] 92.07% 115 p/s5098 / 5512 [----------------------------------------------------------------->_____] 92.49% 115 p/s5121 / 5512 [----------------------------------------------------------------->_____] 92.91% 115 p/s5143 / 5512 [------------------------------------------------------------------>____] 93.31% 115 p/s5166 / 5512 [------------------------------------------------------------------>____] 93.72% 115 p/s5189 / 5512 [------------------------------------------------------------------>____] 94.14% 115 p/s5212 / 5512 [------------------------------------------------------------------->___] 94.56% 115 p/s5234 / 5512 [------------------------------------------------------------------->___] 94.96% 115 p/s5257 / 5512 [------------------------------------------------------------------->___] 95.37% 115 p/s5280 / 5512 [-------------------------------------------------------------------->__] 95.79% 115 p/s5303 / 5512 [-------------------------------------------------------------------->__] 96.21% 115 p/s5326 / 5512 [-------------------------------------------------------------------->__] 96.63% 115 p/s5350 / 5512 [-------------------------------------------------------------------->__] 97.06% 115 p/s5373 / 5512 [--------------------------------------------------------------------->_] 97.48% 115 p/s5397 / 5512 [--------------------------------------------------------------------->_] 97.91% 115 p/s5420 / 5512 [--------------------------------------------------------------------->_] 98.33% 115 p/s5444 / 5512 [---------------------------------------------------------------------->] 98.77% 115 p/s5468 / 5512 [---------------------------------------------------------------------->] 99.20% 115 p/s5492 / 5512 [---------------------------------------------------------------------->] 99.64% 115 p/s5512 / 5512 [----------------------------------------------------------------------] 100.00% 115 p/s2026-05-20T16:42:49 - INFO: Parsing 5512 sonar sweeps from /working/ee7cdc54-5ea6-1a44-ffa9-cb969bc10308/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/5512 [00:00<?, ?it/s]
  0%|          | 3/5512 [00:00<03:25, 26.81it/s]
  0%|          | 6/5512 [00:00<03:22, 27.23it/s]
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  1%|          | 33/5512 [00:01<03:17, 27.79it/s]
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  1%|          | 63/5512 [00:02<03:17, 27.58it/s]
  1%|          | 66/5512 [00:02<03:17, 27.61it/s]
  1%|▏         | 69/5512 [00:02<03:17, 27.61it/s]
  1%|▏         | 72/5512 [00:02<03:16, 27.63it/s]
  1%|▏         | 75/5512 [00:02<03:18, 27.39it/s]
  1%|▏         | 78/5512 [00:02<03:19, 27.26it/s]
  1%|▏         | 81/5512 [00:02<03:18, 27.39it/s]
  2%|▏         | 84/5512 [00:03<03:17, 27.49it/s]
  2%|▏         | 87/5512 [00:03<03:16, 27.54it/s]
  2%|▏         | 90/5512 [00:03<03:16, 27.60it/s]
  2%|▏         | 93/5512 [00:03<03:16, 27.64it/s]
  2%|▏         | 96/5512 [00:03<03:15, 27.63it/s]
  2%|▏         | 99/5512 [00:03<03:15, 27.65it/s]
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  2%|▏         | 105/5512 [00:03<03:15, 27.62it/s]
  2%|▏         | 108/5512 [00:03<03:21, 26.77it/s]
  2%|▏         | 111/5512 [00:04<03:19, 27.01it/s]
  2%|▏         | 114/5512 [00:04<03:18, 27.20it/s]
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  3%|▎         | 138/5512 [00:05<03:15, 27.53it/s]
  3%|▎         | 141/5512 [00:05<03:14, 27.59it/s]
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2026-05-20T16:46:13 - WARNING: Expected 400 beams, got 168, dropping sweep 5511
2026-05-20T16:46:13 - 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-flip --sonar-distance-threshold 60 --sonar-sample-offset -1 /working/ee7cdc54-5ea6-1a44-ffa9-cb969bc10308/ee7cdc54-5ea6-1a44-ffa9-cb969bc10308"
2026-05-20T16:46:14 - INFO: DataPrep 0.14.6
2026-05-20T16:46:14 - INFO: Prepared data will be output to /working/ee7cdc54-5ea6-1a44-ffa9-cb969bc10308/ee7cdc54-5ea6-1a44-ffa9-cb969bc10308/processing/data
2026-05-20T16:46:14 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-05-20T16:46:14 - deployment - INFO: Detected P3D version: P3D_1
2026-05-20T16:46:14 - INFO: Recording GUID: ee7cdc54-5ea6-1a44-ffa9-cb969bc10308
2026-05-20T16:46:14 - INFO: Preparing sonar data...
2026-05-20T16:46:14 - INFO: /working/ee7cdc54-5ea6-1a44-ffa9-cb969bc10308/ee7cdc54-5ea6-1a44-ffa9-cb969bc10308/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-05-20T16:46:19 - INFO: Sonar epoch is 2026-04-20 20:18:27.329469+00:00 (1776716307329468750)
2026-05-20T16:46:19 - INFO: Sensor speed of sound is 1500 m/s
2026-05-20T16:46:19 - INFO: Sensor range is 0.939120 m
2026-05-20T16:46:19 - INFO: Sensor micrometres per sample is 3119.999982
2026-05-20T16:46:19 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-05-20T16:46:19 - INFO: Scaled range is 0.935669 m
2026-05-20T16:46:19 - INFO: Scaled micrometres per sample is 3108.536247
2026-05-20T16:46:19 - INFO: Processing 5511 sweeps...

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2026-05-20T16:46:30 - INFO: Prepared sonar data in 15.5840 s
2026-05-20T16:46:30 - INFO: No IMU data found
2026-05-20T16:46:30 - INFO: DataPrep took 0:00:16.122843
2026-05-20T16:46:30 - INFO: Extracted sonar data in 0:04:29.809805
2026-05-20T16:46:31 - INFO: MSIP3D took 0:04:30.430276