+ '[' p3d '=' md ]
+ '[' p3d '=' smd ]
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/c6702a8d-419b-45df-92be-8618d6903679/processing/data/sonar_raw.track.cbor
2026-09-09 05:07:18 [INFO] Sonicer 0.0.3
2026-09-09 05:07:20 [INFO] Recording GUID: c6702a8d-419b-45df-92be-8618d6903679
2026-09-09 05:07:20 [INFO] Prepared data will be output to /working/c6702a8d-419b-45df-92be-8618d6903679/processing/data
2026-09-09 05:07:20 [INFO] Digitizing sonar data...
2026-09-09 05:07:20 [INFO] Using sonar digitizer
2026-09-09 05:07:20 [INFO] Sensor speed of sound is 1500 m/s
2026-09-09 05:07:20 [INFO] Sensor range is 2.133600 m
2026-09-09 05:07:20 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-09 05:07:20 [INFO] Scaled micrometres per sample is 2657.200706
2026-09-09 05:07:21 [INFO] Digitized sonar frames: 13% (105/754)
2026-09-09 05:07:22 [INFO] Digitized sonar frames: 33% (251/754)
2026-09-09 05:07:23 [INFO] Digitized sonar frames: 51% (391/754)
2026-09-09 05:07:24 [INFO] Digitized sonar frames: 71% (537/754)
2026-09-09 05:07:25 [INFO] Digitized sonar frames: 89% (676/754)
2026-09-09 05:07:25 [INFO] Digitized 754 snapshot scans
2026-09-09 05:07:25 [INFO] Applying sonar temporal consistency...
2026-09-09 05:07:26 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 3 structures, 27 points
2026-09-09 05:07:27 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-09 05:07:28 [INFO] Sonar temporal gap fill (window 2): 162928 points, 3974 candidate beams, filled 2553
2026-09-09 05:07:28 [INFO] Sonar temporal radial outliers: removed 148 of 165481 points
2026-09-09 05:07:28 [INFO] Sonar temporal segment pruning (window 3): removed 9 segments, 92 points
2026-09-09 05:07:28 [INFO] Writing sonar track file...
2026-09-09 05:07:28 [INFO] Writing sonar PTD files...
2026-09-09 05:07:29 [INFO] Sonicer took 10.817103565s