+ '[' p3d '=' md ]
+ '[' p3d '=' smd ]
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/63fd2c69-f106-4e20-8a43-1e3a88a33951/processing/data/sonar_raw.track.cbor
2026-09-09 05:10:58 [INFO] Sonicer 0.0.3
2026-09-09 05:10:59 [INFO] Recording GUID: 63fd2c69-f106-4e20-8a43-1e3a88a33951
2026-09-09 05:10:59 [INFO] Prepared data will be output to /working/63fd2c69-f106-4e20-8a43-1e3a88a33951/processing/data
2026-09-09 05:10:59 [INFO] Digitizing sonar data...
2026-09-09 05:10:59 [INFO] Using sonar digitizer
2026-09-09 05:10:59 [INFO] Sensor speed of sound is 1500 m/s
2026-09-09 05:10:59 [INFO] Sensor range is 2.133600 m
2026-09-09 05:10:59 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-09 05:10:59 [INFO] Scaled micrometres per sample is 2657.200706
2026-09-09 05:11:00 [INFO] Digitized sonar frames: 13% (110/786)
2026-09-09 05:11:01 [INFO] Digitized sonar frames: 32% (253/786)
2026-09-09 05:11:02 [INFO] Digitized sonar frames: 49% (389/786)
2026-09-09 05:11:03 [INFO] Digitized sonar frames: 67% (529/786)
2026-09-09 05:11:04 [INFO] Digitized sonar frames: 84% (663/786)
2026-09-09 05:11:05 [INFO] Digitized 786 snapshot scans
2026-09-09 05:11:05 [INFO] Applying sonar temporal consistency...
2026-09-09 05:11:06 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-09 05:11:07 [INFO] Sonar temporal gap fill (window 2): 173333 points, 4311 candidate beams, filled 2921
2026-09-09 05:11:07 [INFO] Sonar temporal radial outliers: removed 252 of 176254 points
2026-09-09 05:11:07 [INFO] Sonar temporal segment pruning (window 3): removed 15 segments, 149 points
2026-09-09 05:11:07 [INFO] Writing sonar track file...
2026-09-09 05:11:07 [INFO] Writing sonar PTD files...
2026-09-09 05:11:08 [INFO] Sonicer took 10.187283243s