+ '[' 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
2026-10-19 02:51:09 [INFO] Sonicer 0.0.3
2026-10-19 02:51:13 [INFO] Recording GUID: c6702a8d-419b-45df-92be-8618d6903679
2026-10-19 02:51:13 [INFO] Prepared data will be output to /working/c6702a8d-419b-45df-92be-8618d6903679/processing/data
2026-10-19 02:51:13 [INFO] Digitizing sonar data...
2026-10-19 02:51:13 [INFO] Using sonar digitizer
2026-10-19 02:51:13 [INFO] Sensor speed of sound is 1500 m/s
2026-10-19 02:51:13 [INFO] Sensor range is 2.133600 m
2026-10-19 02:51:13 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-10-19 02:51:13 [INFO] Scaled micrometres per sample is 2657.200706
2026-10-19 02:51:14 [INFO] Digitized sonar frames: 10% (154/1539)
2026-10-19 02:51:15 [INFO] Digitized sonar frames: 20% (308/1539)
2026-10-19 02:51:16 [INFO] Digitized sonar frames: 30% (462/1539)
2026-10-19 02:51:17 [INFO] Digitized sonar frames: 40% (616/1539)
2026-10-19 02:51:18 [INFO] Digitized sonar frames: 50% (770/1539)
2026-10-19 02:51:20 [INFO] Digitized sonar frames: 60% (924/1539)
2026-10-19 02:51:21 [INFO] Digitized sonar frames: 70% (1078/1539)
2026-10-19 02:51:22 [INFO] Digitized sonar frames: 80% (1232/1539)
2026-10-19 02:51:23 [INFO] Digitized sonar frames: 90% (1386/1539)
2026-10-19 02:51:24 [INFO] Digitized sonar frames: 100% (1539/1539)
2026-10-19 02:51:24 [INFO] Digitized 1539 snapshot scans
2026-10-19 02:51:24 [INFO] Applying sonar temporal consistency...
2026-10-19 02:51:26 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 3 structures, 27 points
2026-10-19 02:51:28 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-10-19 02:51:29 [INFO] Temporal gap fill: 54% (837/1539)
2026-10-19 02:51:30 [INFO] Sonar temporal gap fill (window 2): 336026 points, 8288 candidate beams, filled 5475
2026-10-19 02:51:30 [INFO] Sonar temporal radial outliers: removed 400 of 341501 points
2026-10-19 02:51:30 [INFO] Sonar temporal segment pruning (window 3): removed 24 segments, 241 points
2026-10-19 02:51:30 [INFO] Writing sonar track file...
2026-10-19 02:51:30 [INFO] Writing sonar PTD files...
2026-10-19 02:51:31 [INFO] Sonicer took 21.811717959s