+ '[' p3d '=' md ]
+ '[' p3d '=' smd ]
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/027be3ba-5f04-4430-baeb-1a4504996669/processing/data/sonar_raw.track.cbor
2026-09-09 05:10:39 [INFO] Sonicer 0.0.3
2026-09-09 05:10:41 [INFO] Recording GUID: 027be3ba-5f04-4430-baeb-1a4504996669
2026-09-09 05:10:41 [INFO] Prepared data will be output to /working/027be3ba-5f04-4430-baeb-1a4504996669/processing/data
2026-09-09 05:10:41 [INFO] Digitizing sonar data...
2026-09-09 05:10:41 [INFO] Using sonar digitizer
2026-09-09 05:10:41 [INFO] Sensor speed of sound is 1500 m/s
2026-09-09 05:10:41 [INFO] Sensor range is 2.133600 m
2026-09-09 05:10:41 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-09 05:10:41 [INFO] Scaled micrometres per sample is 2657.200706
2026-09-09 05:10:42 [INFO] Digitized sonar frames: 17% (113/646)
2026-09-09 05:10:43 [INFO] Digitized sonar frames: 39% (257/646)
2026-09-09 05:10:44 [INFO] Digitized sonar frames: 62% (403/646)
2026-09-09 05:10:45 [INFO] Digitized sonar frames: 84% (549/646)
2026-09-09 05:10:45 [INFO] Digitized 646 snapshot scans
2026-09-09 05:10:45 [INFO] Applying sonar temporal consistency...
2026-09-09 05:10:46 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 6 structures, 75 points
2026-09-09 05:10:47 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-09 05:10:48 [INFO] Sonar temporal gap fill (window 2): 131243 points, 4954 candidate beams, filled 3501
2026-09-09 05:10:48 [INFO] Sonar temporal radial outliers: removed 422 of 134744 points
2026-09-09 05:10:48 [INFO] Sonar temporal segment pruning (window 3): removed 39 segments, 530 points
2026-09-09 05:10:48 [INFO] Writing sonar track file...
2026-09-09 05:10:48 [INFO] Writing sonar PTD files...
2026-09-09 05:10:48 [INFO] Sonicer took 9.085690447s