+ '[' 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
2026-10-17 00:43:28 [INFO] Sonicer 0.0.3
2026-10-17 00:43:32 [INFO] Recording GUID: c6702a8d-419b-45df-92be-8618d6903679
2026-10-17 00:43:32 [INFO] Prepared data will be output to /working/c6702a8d-419b-45df-92be-8618d6903679/processing/data
2026-10-17 00:43:32 [INFO] Digitizing sonar data...
2026-10-17 00:43:32 [INFO] Using sonar digitizer
2026-10-17 00:43:32 [INFO] Sensor speed of sound is 1500 m/s
2026-10-17 00:43:32 [INFO] Sensor range is 2.133600 m
2026-10-17 00:43:32 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-10-17 00:43:32 [INFO] Scaled micrometres per sample is 2657.200706
2026-10-17 00:43:33 [INFO] Digitized sonar frames: 10% (154/1539)
2026-10-17 00:43:34 [INFO] Digitized sonar frames: 20% (308/1539)
2026-10-17 00:43:35 [INFO] Digitized sonar frames: 30% (462/1539)
2026-10-17 00:43:36 [INFO] Digitized sonar frames: 40% (616/1539)
2026-10-17 00:43:37 [INFO] Digitized sonar frames: 50% (770/1539)
2026-10-17 00:43:39 [INFO] Digitized sonar frames: 60% (924/1539)
2026-10-17 00:43:40 [INFO] Digitized sonar frames: 70% (1078/1539)
2026-10-17 00:43:41 [INFO] Digitized sonar frames: 80% (1232/1539)
2026-10-17 00:43:42 [INFO] Digitized sonar frames: 90% (1386/1539)
2026-10-17 00:43:43 [INFO] Digitized sonar frames: 100% (1539/1539)
2026-10-17 00:43:43 [INFO] Digitized 1539 snapshot scans
2026-10-17 00:43:43 [INFO] Applying sonar temporal consistency...
2026-10-17 00:43:45 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 3 structures, 27 points
2026-10-17 00:43:47 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-10-17 00:43:48 [INFO] Temporal gap fill: 55% (848/1539)
2026-10-17 00:43:48 [INFO] Sonar temporal gap fill (window 2): 336026 points, 8288 candidate beams, filled 5475
2026-10-17 00:43:49 [INFO] Sonar temporal radial outliers: removed 400 of 341501 points
2026-10-17 00:43:49 [INFO] Sonar temporal segment pruning (window 3): removed 24 segments, 241 points
2026-10-17 00:43:49 [INFO] Writing sonar track file...
2026-10-17 00:43:49 [INFO] Writing sonar PTD files...
2026-10-17 00:43:50 [INFO] Sonicer took 21.645684559s