+ '[' p3d '=' md ]
+ '[' p3d '=' smd ]
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/cf101d7f-c7cf-4e4c-a3f9-48cfb1c8c225/processing/data/sonar_raw.track.cbor
2026-09-09 05:00:29 [INFO] Sonicer 0.0.3
2026-09-09 05:00:30 [INFO] Recording GUID: cf101d7f-c7cf-4e4c-a3f9-48cfb1c8c225
2026-09-09 05:00:30 [INFO] Prepared data will be output to /working/cf101d7f-c7cf-4e4c-a3f9-48cfb1c8c225/processing/data
2026-09-09 05:00:30 [INFO] Digitizing sonar data...
2026-09-09 05:00:30 [INFO] Using sonar digitizer
2026-09-09 05:00:30 [INFO] Sensor speed of sound is 1500 m/s
2026-09-09 05:00:30 [INFO] Sensor range is 2.133600 m
2026-09-09 05:00:30 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-09 05:00:30 [INFO] Scaled micrometres per sample is 2657.200706
2026-09-09 05:00:31 [INFO] Digitized sonar frames: 26% (90/337)
2026-09-09 05:00:32 [INFO] Digitized sonar frames: 60% (205/337)
2026-09-09 05:00:33 [INFO] Digitized sonar frames: 95% (322/337)
2026-09-09 05:00:33 [INFO] Digitized 337 snapshot scans
2026-09-09 05:00:33 [INFO] Applying sonar temporal consistency...
2026-09-09 05:00:34 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 4 structures, 78 points
2026-09-09 05:00:34 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-09 05:00:34 [INFO] Sonar temporal gap fill (window 2): 66533 points, 2773 candidate beams, filled 1507
2026-09-09 05:00:34 [INFO] Sonar temporal radial outliers: removed 323 of 68040 points
2026-09-09 05:00:34 [INFO] Sonar temporal segment pruning (window 3): removed 15 segments, 207 points
2026-09-09 05:00:34 [INFO] Writing sonar track file...
2026-09-09 05:00:35 [INFO] Writing sonar PTD files...
2026-09-09 05:00:35 [INFO] Sonicer took 5.563976646s