+ '[' p3d '=' md ]
+ '[' p3d '=' smd ]
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/10ec9e09-3ded-45a0-8df6-add466f9f56b/processing/data/sonar_raw.track.cbor
2026-09-09 05:04:53 [INFO] Sonicer 0.0.3
2026-09-09 05:04:55 [INFO] Recording GUID: 10ec9e09-3ded-45a0-8df6-add466f9f56b
2026-09-09 05:04:55 [INFO] Prepared data will be output to /working/10ec9e09-3ded-45a0-8df6-add466f9f56b/processing/data
2026-09-09 05:04:55 [INFO] Digitizing sonar data...
2026-09-09 05:04:55 [INFO] Using sonar digitizer
2026-09-09 05:04:55 [INFO] Sensor speed of sound is 1500 m/s
2026-09-09 05:04:55 [INFO] Sensor range is 2.133600 m
2026-09-09 05:04:55 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-09 05:04:55 [INFO] Scaled micrometres per sample is 2657.200706
2026-09-09 05:04:56 [INFO] Digitized sonar frames: 17% (114/646)
2026-09-09 05:04:57 [INFO] Digitized sonar frames: 39% (256/646)
2026-09-09 05:04:58 [INFO] Digitized sonar frames: 61% (397/646)
2026-09-09 05:04:59 [INFO] Digitized sonar frames: 84% (545/646)
2026-09-09 05:04:59 [INFO] Digitized 646 snapshot scans
2026-09-09 05:04:59 [INFO] Applying sonar temporal consistency...
2026-09-09 05:05:00 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 3 structures, 36 points
2026-09-09 05:05:01 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-09 05:05:02 [INFO] Sonar temporal gap fill (window 2): 147988 points, 1890 candidate beams, filled 1499
2026-09-09 05:05:02 [INFO] Sonar temporal radial outliers: removed 92 of 149487 points
2026-09-09 05:05:02 [INFO] Sonar temporal segment pruning (window 3): removed 11 segments, 114 points
2026-09-09 05:05:02 [INFO] Writing sonar track file...
2026-09-09 05:05:02 [INFO] Writing sonar PTD files...
2026-09-09 05:05:02 [INFO] Sonicer took 9.072529951s