+ [ 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/5f5c2782-4e06-d753-f6b8-e3f69533b090
2026-07-16T03:26:23 - INFO: MSIP3D 0.2.8
2026-07-16T03:26:24 - INFO: P3D files will be output to /working/5f5c2782-4e06-d753-f6b8-e3f69533b090/5f5c2782-4e06-d753-f6b8-e3f69533b090
2026-07-16T03:26:24 - INFO: Found 11 TFD dictionary entries
2026-07-16T03:26:24 - INFO: Found TFD mission for 2102SS
2026-07-16T03:26:24 - INFO: Recording will be processed as SMD
2026-07-16T03:26:24 - INFO: Copying assets JSON to output directory...
2026-07-16T03:26:24 - INFO: Preparing counter data...
2026-07-16T03:26:24 - INFO: Interpreting counter as imperial
2026-07-16T03:26:24 - INFO: Preparing size track from assets JSON...
2026-07-16T03:26:24 - INFO: Preparing shape track from assets JSON...
2026-07-16T03:26:24 - INFO: Preparing material track from assets JSON...
2026-07-16T03:26:24 - INFO: Prepared counter data in 0.2345 s
2026-07-16T03:26:24 - INFO: Extracting sonar data...
TFD path: /working/5f5c2782-4e06-d753-f6b8-e3f69533b090/tfd/2102SS_002.tfd
TFD path: /working/5f5c2782-4e06-d753-f6b8-e3f69533b090/tfd/output
Name: Checkpoint, Tag: 4857243675797774090
Name: CCTV, Tag: 4855215978501720643
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855215978501720644
Getting track SONAR
Number of frames: 5076
19 / 5076 [>___________________________________________________________________________] 0.37% ? p/s39 / 5076 [>___________________________________________________________________________] 0.77% ? p/s59 / 5076 [>___________________________________________________________________________] 1.16% ? p/s74 / 5076 [->_________________________________________________________________________] 1.46% 92 p/s93 / 5076 [->_________________________________________________________________________] 1.83% 92 p/s113 / 5076 [->________________________________________________________________________] 2.23% 92 p/s132 / 5076 [->________________________________________________________________________] 2.60% 92 p/s152 / 5076 [-->_______________________________________________________________________] 2.99% 92 p/s172 / 5076 [-->_______________________________________________________________________] 3.39% 92 p/s192 / 5076 [-->_______________________________________________________________________] 3.78% 93 p/s212 / 5076 [--->______________________________________________________________________] 4.18% 93 p/s232 / 5076 [--->______________________________________________________________________] 4.57% 93 p/s252 / 5076 [--->______________________________________________________________________] 4.96% 93 p/s272 / 5076 [--->______________________________________________________________________] 5.36% 93 p/s292 / 5076 [---->_____________________________________________________________________] 5.75% 93 p/s312 / 5076 [---->_____________________________________________________________________] 6.15% 93 p/s332 / 5076 [---->_____________________________________________________________________] 6.54% 93 p/s352 / 5076 [----->____________________________________________________________________] 6.93% 93 p/s373 / 5076 [----->____________________________________________________________________] 7.35% 94 p/s393 / 5076 [----->____________________________________________________________________] 7.74% 94 p/s413 / 5076 [------>___________________________________________________________________] 8.14% 94 p/s433 / 5076 [------>___________________________________________________________________] 8.53% 94 p/s453 / 5076 [------>___________________________________________________________________] 8.92% 94 p/s473 / 5076 [------>___________________________________________________________________] 9.32% 94 p/s493 / 5076 [------->__________________________________________________________________] 9.71% 95 p/s513 / 5076 [------->_________________________________________________________________] 10.11% 95 p/s533 / 5076 [------->_________________________________________________________________] 10.50% 95 p/s553 / 5076 [------->_________________________________________________________________] 10.89% 95 p/s573 / 5076 [-------->________________________________________________________________] 11.29% 95 p/s593 / 5076 [-------->________________________________________________________________] 11.68% 95 p/s614 / 5076 [-------->________________________________________________________________] 12.10% 96 p/s634 / 5076 [--------->_______________________________________________________________] 12.49% 96 p/s654 / 5076 [--------->_______________________________________________________________] 12.88% 96 p/s674 / 5076 [--------->_______________________________________________________________] 13.28% 96 p/s694 / 5076 [--------->_______________________________________________________________] 13.67% 96 p/s714 / 5076 [---------->______________________________________________________________] 14.07% 96 p/s734 / 5076 [---------->______________________________________________________________] 14.46% 96 p/s753 / 5076 [---------->______________________________________________________________] 14.83% 96 p/s773 / 5076 [----------->_____________________________________________________________] 15.23% 96 p/s793 / 5076 [----------->_____________________________________________________________] 15.62% 96 p/s813 / 5076 [----------->_____________________________________________________________] 16.02% 96 p/s833 / 5076 [----------->_____________________________________________________________] 16.41% 96 p/s853 / 5076 [------------>____________________________________________________________] 16.80% 96 p/s874 / 5076 [------------>____________________________________________________________] 17.22% 96 p/s893 / 5076 [------------>____________________________________________________________] 17.59% 96 p/s914 / 5076 [------------->___________________________________________________________] 18.01% 97 p/s931 / 5076 [------------->___________________________________________________________] 18.34% 97 p/s951 / 5076 [------------->___________________________________________________________] 18.74% 97 p/s970 / 5076 [------------->___________________________________________________________] 19.11% 97 p/s990 / 5076 [-------------->__________________________________________________________] 19.50% 97 p/s1010 / 5076 [-------------->_________________________________________________________] 19.90% 97 p/s1029 / 5076 [-------------->_________________________________________________________] 20.27% 97 p/s1049 / 5076 [-------------->_________________________________________________________] 20.67% 97 p/s1069 / 5076 [--------------->________________________________________________________] 21.06% 97 p/s1089 / 5076 [--------------->________________________________________________________] 21.45% 97 p/s1109 / 5076 [--------------->________________________________________________________] 21.85% 97 p/s1130 / 5076 [---------------->_______________________________________________________] 22.26% 97 p/s1150 / 5076 [---------------->_______________________________________________________] 22.66% 97 p/s1169 / 5076 [---------------->_______________________________________________________] 23.03% 97 p/s1189 / 5076 [---------------->_______________________________________________________] 23.42% 97 p/s1209 / 5076 [----------------->______________________________________________________] 23.82% 97 p/s1229 / 5076 [----------------->______________________________________________________] 24.21% 97 p/s1249 / 5076 [----------------->______________________________________________________] 24.61% 97 p/s1270 / 5076 [------------------>_____________________________________________________] 25.02% 98 p/s1290 / 5076 [------------------>_____________________________________________________] 25.41% 98 p/s1310 / 5076 [------------------>_____________________________________________________] 25.81% 98 p/s1330 / 5076 [------------------>_____________________________________________________] 26.20% 98 p/s1350 / 5076 [------------------->____________________________________________________] 26.60% 98 p/s1370 / 5076 [------------------->____________________________________________________] 26.99% 98 p/s1390 / 5076 [------------------->____________________________________________________] 27.38% 98 p/s1410 / 5076 [------------------->____________________________________________________] 27.78% 98 p/s1431 / 5076 [-------------------->___________________________________________________] 28.19% 98 p/s1451 / 5076 [-------------------->___________________________________________________] 28.59% 98 p/s1471 / 5076 [-------------------->___________________________________________________] 28.98% 98 p/s1491 / 5076 [--------------------->__________________________________________________] 29.37% 98 p/s1511 / 5076 [--------------------->__________________________________________________] 29.77% 98 p/s1531 / 5076 [--------------------->__________________________________________________] 30.16% 98 p/s1551 / 5076 [--------------------->__________________________________________________] 30.56% 98 p/s1572 / 5076 [---------------------->_________________________________________________] 30.97% 98 p/s1592 / 5076 [---------------------->_________________________________________________] 31.36% 98 p/s1612 / 5076 [---------------------->_________________________________________________] 31.76% 98 p/s1632 / 5076 [----------------------->________________________________________________] 32.15% 99 p/s1652 / 5076 [----------------------->________________________________________________] 32.55% 99 p/s1673 / 5076 [----------------------->________________________________________________] 32.96% 99 p/s1693 / 5076 [------------------------>_______________________________________________] 33.35% 99 p/s1713 / 5076 [------------------------>_______________________________________________] 33.75% 99 p/s1732 / 5076 [------------------------>_______________________________________________] 34.12% 99 p/s1752 / 5076 [------------------------>_______________________________________________] 34.52% 99 p/s1772 / 5076 [------------------------->______________________________________________] 34.91% 99 p/s1792 / 5076 [------------------------->______________________________________________] 35.30% 99 p/s1812 / 5076 [------------------------->______________________________________________] 35.70% 99 p/s1832 / 5076 [------------------------->______________________________________________] 36.09% 99 p/s1853 / 5076 [-------------------------->_____________________________________________] 36.51% 99 p/s1873 / 5076 [-------------------------->_____________________________________________] 36.90% 99 p/s1893 / 5076 [-------------------------->_____________________________________________] 37.29% 99 p/s1913 / 5076 [--------------------------->____________________________________________] 37.69% 99 p/s1933 / 5076 [--------------------------->____________________________________________] 38.08% 99 p/s1954 / 5076 [--------------------------->____________________________________________] 38.49% 99 p/s1974 / 5076 [--------------------------->____________________________________________] 38.89% 99 p/s1994 / 5076 [---------------------------->___________________________________________] 39.28% 99 p/s2014 / 5076 [---------------------------->___________________________________________] 39.68% 99 p/s2034 / 5076 [---------------------------->___________________________________________] 40.07% 99 p/s2054 / 5076 [----------------------------->__________________________________________] 40.46% 99 p/s2074 / 5076 [----------------------------->__________________________________________] 40.86% 99 p/s2094 / 5076 [----------------------------->__________________________________________] 41.25% 99 p/s2114 / 5076 [----------------------------->__________________________________________] 41.65% 99 p/s2134 / 5076 [------------------------------>_________________________________________] 42.04% 99 p/s2154 / 5076 [------------------------------>_________________________________________] 42.43% 99 p/s2175 / 5076 [------------------------------>_________________________________________] 42.85% 99 p/s2195 / 5076 [------------------------------->________________________________________] 43.24% 99 p/s2215 / 5076 [------------------------------->________________________________________] 43.64% 99 p/s2234 / 5076 [------------------------------->________________________________________] 44.01% 99 p/s2254 / 5076 [------------------------------->________________________________________] 44.41% 99 p/s2275 / 5076 [-------------------------------->_______________________________________] 44.82% 99 p/s2295 / 5076 [-------------------------------->______________________________________] 45.21% 100 p/s2315 / 5076 [-------------------------------->______________________________________] 45.61% 100 p/s2334 / 5076 [-------------------------------->______________________________________] 45.98% 100 p/s2355 / 5076 [-------------------------------->______________________________________] 46.39% 100 p/s2375 / 5076 [--------------------------------->_____________________________________] 46.79% 100 p/s2395 / 5076 [--------------------------------->_____________________________________] 47.18% 100 p/s2415 / 5076 [--------------------------------->_____________________________________] 47.58% 100 p/s2435 / 5076 [---------------------------------->____________________________________] 47.97% 100 p/s2455 / 5076 [---------------------------------->____________________________________] 48.36% 100 p/s2475 / 5076 [---------------------------------->____________________________________] 48.76% 100 p/s2495 / 5076 [---------------------------------->____________________________________] 49.15% 100 p/s2515 / 5076 [----------------------------------->___________________________________] 49.55% 100 p/s2535 / 5076 [----------------------------------->___________________________________] 49.94% 100 p/s2556 / 5076 [----------------------------------->___________________________________] 50.35% 100 p/s2576 / 5076 [------------------------------------>__________________________________] 50.75% 100 p/s2596 / 5076 [------------------------------------>__________________________________] 51.14% 100 p/s2616 / 5076 [------------------------------------>__________________________________] 51.54% 100 p/s2636 / 5076 [------------------------------------>__________________________________] 51.93% 100 p/s2656 / 5076 [------------------------------------->_________________________________] 52.32% 100 p/s2676 / 5076 [------------------------------------->_________________________________] 52.72% 100 p/s2696 / 5076 [------------------------------------->_________________________________] 53.11% 100 p/s2716 / 5076 [------------------------------------->_________________________________] 53.51% 100 p/s2736 / 5076 [-------------------------------------->________________________________] 53.90% 100 p/s2757 / 5076 [-------------------------------------->________________________________] 54.31% 100 p/s2777 / 5076 [-------------------------------------->________________________________] 54.71% 100 p/s2797 / 5076 [--------------------------------------->_______________________________] 55.10% 100 p/s2817 / 5076 [--------------------------------------->_______________________________] 55.50% 100 p/s2837 / 5076 [--------------------------------------->_______________________________] 55.89% 100 p/s2857 / 5076 [--------------------------------------->_______________________________] 56.28% 100 p/s2877 / 5076 [---------------------------------------->______________________________] 56.68% 100 p/s2897 / 5076 [---------------------------------------->______________________________] 57.07% 100 p/s2918 / 5076 [---------------------------------------->______________________________] 57.49% 100 p/s2938 / 5076 [----------------------------------------->_____________________________] 57.88% 100 p/s2957 / 5076 [----------------------------------------->_____________________________] 58.25% 100 p/s2978 / 5076 [----------------------------------------->_____________________________] 58.67% 100 p/s2998 / 5076 [----------------------------------------->_____________________________] 59.06% 100 p/s3018 / 5076 [------------------------------------------>____________________________] 59.46% 100 p/s3038 / 5076 [------------------------------------------>____________________________] 59.85% 100 p/s3059 / 5076 [------------------------------------------>____________________________] 60.26% 100 p/s3079 / 5076 [------------------------------------------->___________________________] 60.66% 100 p/s3099 / 5076 [------------------------------------------->___________________________] 61.05% 100 p/s3119 / 5076 [------------------------------------------->___________________________] 61.45% 100 p/s3139 / 5076 [------------------------------------------->___________________________] 61.84% 100 p/s3159 / 5076 [-------------------------------------------->__________________________] 62.23% 100 p/s3179 / 5076 [-------------------------------------------->__________________________] 62.63% 100 p/s3199 / 5076 [-------------------------------------------->__________________________] 63.02% 100 p/s3219 / 5076 [--------------------------------------------->_________________________] 63.42% 100 p/s3239 / 5076 [--------------------------------------------->_________________________] 63.81% 100 p/s3259 / 5076 [--------------------------------------------->_________________________] 64.20% 100 p/s3279 / 5076 [--------------------------------------------->_________________________] 64.60% 100 p/s3298 / 5076 [---------------------------------------------->________________________] 64.97% 100 p/s3319 / 5076 [---------------------------------------------->________________________] 65.39% 100 p/s3339 / 5076 [---------------------------------------------->________________________] 65.78% 100 p/s3359 / 5076 [---------------------------------------------->________________________] 66.17% 100 p/s3379 / 5076 [----------------------------------------------->_______________________] 66.57% 100 p/s3399 / 5076 [----------------------------------------------->_______________________] 66.96% 100 p/s3419 / 5076 [----------------------------------------------->_______________________] 67.36% 100 p/s3439 / 5076 [------------------------------------------------>______________________] 67.75% 100 p/s3460 / 5076 [------------------------------------------------>______________________] 68.16% 100 p/s3480 / 5076 [------------------------------------------------>______________________] 68.56% 100 p/s3500 / 5076 [------------------------------------------------>______________________] 68.95% 100 p/s3520 / 5076 [------------------------------------------------->_____________________] 69.35% 100 p/s3540 / 5076 [------------------------------------------------->_____________________] 69.74% 100 p/s3560 / 5076 [------------------------------------------------->_____________________] 70.13% 100 p/s3580 / 5076 [-------------------------------------------------->____________________] 70.53% 100 p/s3601 / 5076 [-------------------------------------------------->____________________] 70.94% 100 p/s3621 / 5076 [-------------------------------------------------->____________________] 71.34% 100 p/s3641 / 5076 [-------------------------------------------------->____________________] 71.73% 100 p/s3660 / 5076 [--------------------------------------------------->___________________] 72.10% 100 p/s3680 / 5076 [--------------------------------------------------->___________________] 72.50% 100 p/s3701 / 5076 [--------------------------------------------------->___________________] 72.91% 100 p/s3721 / 5076 [---------------------------------------------------->__________________] 73.31% 100 p/s3740 / 5076 [---------------------------------------------------->__________________] 73.68% 100 p/s3760 / 5076 [---------------------------------------------------->__________________] 74.07% 100 p/s3781 / 5076 [---------------------------------------------------->__________________] 74.49% 100 p/s3801 / 5076 [----------------------------------------------------->_________________] 74.88% 100 p/s3821 / 5076 [----------------------------------------------------->_________________] 75.28% 100 p/s3841 / 5076 [----------------------------------------------------->_________________] 75.67% 100 p/s3861 / 5076 [------------------------------------------------------>________________] 76.06% 100 p/s3881 / 5076 [------------------------------------------------------>________________] 76.46% 100 p/s3901 / 5076 [------------------------------------------------------>________________] 76.85% 100 p/s3921 / 5076 [------------------------------------------------------>________________] 77.25% 100 p/s3941 / 5076 [------------------------------------------------------->_______________] 77.64% 100 p/s3962 / 5076 [------------------------------------------------------->_______________] 78.05% 100 p/s3982 / 5076 [------------------------------------------------------->_______________] 78.45% 100 p/s4002 / 5076 [------------------------------------------------------->_______________] 78.84% 100 p/s4021 / 5076 [-------------------------------------------------------->______________] 79.22% 100 p/s4041 / 5076 [-------------------------------------------------------->______________] 79.61% 100 p/s4062 / 5076 [-------------------------------------------------------->______________] 80.02% 100 p/s4082 / 5076 [--------------------------------------------------------->_____________] 80.42% 100 p/s4101 / 5076 [--------------------------------------------------------->_____________] 80.79% 100 p/s4121 / 5076 [--------------------------------------------------------->_____________] 81.19% 100 p/s4141 / 5076 [--------------------------------------------------------->_____________] 81.58% 100 p/s4161 / 5076 [---------------------------------------------------------->____________] 81.97% 100 p/s4181 / 5076 [---------------------------------------------------------->____________] 82.37% 100 p/s4202 / 5076 [---------------------------------------------------------->____________] 82.78% 100 p/s4222 / 5076 [----------------------------------------------------------->___________] 83.18% 100 p/s4242 / 5076 [----------------------------------------------------------->___________] 83.57% 100 p/s4262 / 5076 [----------------------------------------------------------->___________] 83.96% 100 p/s4282 / 5076 [----------------------------------------------------------->___________] 84.36% 100 p/s4302 / 5076 [------------------------------------------------------------>__________] 84.75% 100 p/s4322 / 5076 [------------------------------------------------------------>__________] 85.15% 100 p/s4342 / 5076 [------------------------------------------------------------>__________] 85.54% 100 p/s4362 / 5076 [------------------------------------------------------------->_________] 85.93% 100 p/s4382 / 5076 [------------------------------------------------------------->_________] 86.33% 100 p/s4402 / 5076 [------------------------------------------------------------->_________] 86.72% 100 p/s4422 / 5076 [------------------------------------------------------------->_________] 87.12% 100 p/s4442 / 5076 [-------------------------------------------------------------->________] 87.51% 100 p/s4462 / 5076 [-------------------------------------------------------------->________] 87.90% 100 p/s4482 / 5076 [-------------------------------------------------------------->________] 88.30% 100 p/s4502 / 5076 [-------------------------------------------------------------->________] 88.69% 100 p/s4522 / 5076 [--------------------------------------------------------------->_______] 89.09% 100 p/s4542 / 5076 [--------------------------------------------------------------->_______] 89.48% 100 p/s4562 / 5076 [--------------------------------------------------------------->_______] 89.87% 100 p/s4581 / 5076 [---------------------------------------------------------------->______] 90.25% 100 p/s4601 / 5076 [---------------------------------------------------------------->______] 90.64% 100 p/s4622 / 5076 [---------------------------------------------------------------->______] 91.06% 100 p/s4642 / 5076 [---------------------------------------------------------------->______] 91.45% 100 p/s4662 / 5076 [----------------------------------------------------------------->_____] 91.84% 100 p/s4682 / 5076 [----------------------------------------------------------------->_____] 92.24% 100 p/s4702 / 5076 [----------------------------------------------------------------->_____] 92.63% 100 p/s4723 / 5076 [------------------------------------------------------------------>____] 93.05% 100 p/s4742 / 5076 [------------------------------------------------------------------>____] 93.42% 100 p/s4763 / 5076 [------------------------------------------------------------------>____] 93.83% 100 p/s4783 / 5076 [------------------------------------------------------------------>____] 94.23% 100 p/s4803 / 5076 [------------------------------------------------------------------->___] 94.62% 100 p/s4823 / 5076 [------------------------------------------------------------------->___] 95.02% 100 p/s4843 / 5076 [------------------------------------------------------------------->___] 95.41% 100 p/s4863 / 5076 [-------------------------------------------------------------------->__] 95.80% 100 p/s4883 / 5076 [-------------------------------------------------------------------->__] 96.20% 100 p/s4903 / 5076 [-------------------------------------------------------------------->__] 96.59% 100 p/s4924 / 5076 [-------------------------------------------------------------------->__] 97.01% 100 p/s4944 / 5076 [--------------------------------------------------------------------->_] 97.40% 100 p/s4964 / 5076 [--------------------------------------------------------------------->_] 97.79% 100 p/s4984 / 5076 [--------------------------------------------------------------------->_] 98.19% 100 p/s5004 / 5076 [--------------------------------------------------------------------->_] 98.58% 100 p/s5024 / 5076 [---------------------------------------------------------------------->] 98.98% 100 p/s5045 / 5076 [---------------------------------------------------------------------->] 99.39% 100 p/s5065 / 5076 [---------------------------------------------------------------------->] 99.78% 100 p/s5076 / 5076 [----------------------------------------------------------------------] 100.00% 101 p/s2026-07-16T03:27:15 - INFO: Parsing 5076 sonar sweeps from /working/5f5c2782-4e06-d753-f6b8-e3f69533b090/tfd/output/SONAR/all-sweeps-info.csv...

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2026-07-16T03:30:31 - 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/5f5c2782-4e06-d753-f6b8-e3f69533b090/5f5c2782-4e06-d753-f6b8-e3f69533b090"
2026-07-16T03:30:32 - INFO: DataPrep 0.14.7
2026-07-16T03:30:32 - INFO: Prepared data will be output to /working/5f5c2782-4e06-d753-f6b8-e3f69533b090/5f5c2782-4e06-d753-f6b8-e3f69533b090/processing/data
2026-07-16T03:30:32 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-16T03:30:32 - deployment - INFO: Detected P3D version: P3D_1
2026-07-16T03:30:32 - INFO: Recording GUID: 5f5c2782-4e06-d753-f6b8-e3f69533b090
2026-07-16T03:30:32 - INFO: Preparing sonar data...
2026-07-16T03:30:32 - INFO: /working/5f5c2782-4e06-d753-f6b8-e3f69533b090/5f5c2782-4e06-d753-f6b8-e3f69533b090/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-16T03:30:37 - INFO: Sonar epoch is 2026-03-24 15:14:10.063964+00:00 (1774365250063964358)
2026-07-16T03:30:37 - INFO: Creating sonar sensor alignment track...
2026-07-16T03:30:37 - INFO: Using sonar rotation of -0.017453 radians for wedge mask
2026-07-16T03:30:37 - INFO: Sensor speed of sound is 1500 m/s
2026-07-16T03:30:37 - INFO: Sensor range is 1.589280 m
2026-07-16T03:30:37 - INFO: Sensor micrometres per sample is 5280.000031
2026-07-16T03:30:37 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-16T03:30:37 - INFO: Scaled range is 1.583441 m
2026-07-16T03:30:37 - INFO: Scaled micrometres per sample is 5260.599863
2026-07-16T03:30:37 - INFO: Processing 5076 sweeps...

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2026-07-16T03:30:55 - INFO: Prepared sonar data in 22.0253 s
2026-07-16T03:30:55 - INFO: No IMU data found
2026-07-16T03:30:55 - INFO: DataPrep took 0:00:22.740653
2026-07-16T03:30:55 - INFO: Extracted sonar data in 0:04:31.376819
2026-07-16T03:30:56 - INFO: MSIP3D took 0:04:32.064348