+ '[' p3d '=' md ]
+ '[' p3d '=' smd ]
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/0542362e-6bcd-478a-982d-e7f7be2e161d/processing/data/sonar_raw.track.cbor
2026-09-09 05:10:38 [INFO] Sonicer 0.0.3
2026-09-09 05:10:39 [INFO] Recording GUID: 0542362e-6bcd-478a-982d-e7f7be2e161d
2026-09-09 05:10:39 [INFO] Prepared data will be output to /working/0542362e-6bcd-478a-982d-e7f7be2e161d/processing/data
2026-09-09 05:10:39 [INFO] Digitizing sonar data...
2026-09-09 05:10:39 [INFO] Using sonar digitizer
2026-09-09 05:10:39 [INFO] Sensor speed of sound is 1500 m/s
2026-09-09 05:10:39 [INFO] Sensor range is 2.133600 m
2026-09-09 05:10:39 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-09 05:10:39 [INFO] Scaled micrometres per sample is 2657.200706
2026-09-09 05:10:40 [INFO] Digitized sonar frames: 16% (112/685)
2026-09-09 05:10:41 [INFO] Digitized sonar frames: 37% (258/685)
2026-09-09 05:10:42 [INFO] Digitized sonar frames: 58% (403/685)
2026-09-09 05:10:43 [INFO] Digitized sonar frames: 80% (550/685)
2026-09-09 05:10:44 [INFO] Digitized 685 snapshot scans
2026-09-09 05:10:44 [INFO] Applying sonar temporal consistency...
2026-09-09 05:10:45 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 2 structures, 18 points
2026-09-09 05:10:46 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-09 05:10:47 [INFO] Sonar temporal gap fill (window 2): 128215 points, 6685 candidate beams, filled 4353
2026-09-09 05:10:47 [INFO] Sonar temporal radial outliers: removed 46 of 132568 points
2026-09-09 05:10:47 [INFO] Sonar temporal segment pruning (window 3): removed 8 segments, 128 points
2026-09-09 05:10:47 [INFO] Writing sonar track file...
2026-09-09 05:10:47 [INFO] Writing sonar PTD files...
2026-09-09 05:10:48 [INFO] Sonicer took 9.515072149s