+ '[' 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
2026-10-19 01:55:51 [INFO] Sonicer 0.0.3
2026-10-19 01:55:53 [INFO] Recording GUID: 0542362e-6bcd-478a-982d-e7f7be2e161d
2026-10-19 01:55:53 [INFO] Prepared data will be output to /working/0542362e-6bcd-478a-982d-e7f7be2e161d/processing/data
2026-10-19 01:55:53 [INFO] Digitizing sonar data...
2026-10-19 01:55:53 [INFO] Using sonar digitizer
2026-10-19 01:55:53 [INFO] Sensor speed of sound is 1500 m/s
2026-10-19 01:55:53 [INFO] Sensor range is 2.133600 m
2026-10-19 01:55:53 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-10-19 01:55:53 [INFO] Scaled micrometres per sample is 2657.200706
2026-10-19 01:55:54 [INFO] Digitized sonar frames: 15% (105/685)
2026-10-19 01:55:55 [INFO] Digitized sonar frames: 36% (251/685)
2026-10-19 01:55:56 [INFO] Digitized sonar frames: 57% (392/685)
2026-10-19 01:55:57 [INFO] Digitized sonar frames: 76% (526/685)
2026-10-19 01:55:58 [INFO] Digitized sonar frames: 97% (670/685)
2026-10-19 01:55:58 [INFO] Digitized 685 snapshot scans
2026-10-19 01:55:58 [INFO] Applying sonar temporal consistency...
2026-10-19 01:55:59 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 2 structures, 18 points
2026-10-19 01:56:00 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-10-19 01:56:00 [INFO] Sonar temporal gap fill (window 2): 128215 points, 6685 candidate beams, filled 4353
2026-10-19 01:56:00 [INFO] Sonar temporal radial outliers: removed 46 of 132568 points
2026-10-19 01:56:01 [INFO] Sonar temporal segment pruning (window 3): removed 8 segments, 128 points
2026-10-19 01:56:01 [INFO] Writing sonar track file...
2026-10-19 01:56:01 [INFO] Writing sonar PTD files...
2026-10-19 01:56:01 [INFO] Sonicer took 9.54455664s