+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/d0501d74-2e9e-4b30-a397-4fa98d28b2ac/processing/data/sonar_raw.track.cbor
2026-09-09 15:54:30 [INFO] Sonicer 0.0.3
2026-09-09 15:54:41 [INFO] Recording GUID: d0501d74-2e9e-4b30-a397-4fa98d28b2ac
2026-09-09 15:54:41 [INFO] Prepared data will be output to /working/d0501d74-2e9e-4b30-a397-4fa98d28b2ac/processing/data
2026-09-09 15:54:41 [INFO] Digitizing sonar data...
2026-09-09 15:54:41 [INFO] Using sonar digitizer
2026-09-09 15:54:41 [INFO] Sensor speed of sound is 1500 m/s
2026-09-09 15:54:41 [INFO] Sensor range is 3.000000 m
2026-09-09 15:54:41 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-09 15:54:41 [INFO] Scaled micrometres per sample is 3736.221472
2026-09-09 15:54:45 [INFO] Digitized sonar frames: 10% (465/4646)
2026-09-09 15:54:48 [INFO] Digitized sonar frames: 20% (930/4646)
2026-09-09 15:54:51 [INFO] Digitized sonar frames: 30% (1394/4646)
2026-09-09 15:54:54 [INFO] Digitized sonar frames: 40% (1859/4646)
2026-09-09 15:54:57 [INFO] Digitized sonar frames: 50% (2323/4646)
2026-09-09 15:55:00 [INFO] Digitized sonar frames: 60% (2788/4646)
2026-09-09 15:55:04 [INFO] Digitized sonar frames: 70% (3253/4646)
2026-09-09 15:55:09 [INFO] Digitized sonar frames: 80% (3717/4646)
2026-09-09 15:55:14 [INFO] Digitized sonar frames: 90% (4182/4646)
2026-09-09 15:55:17 [INFO] Digitized sonar frames: 100% (4646/4646)
2026-09-09 15:55:17 [INFO] Digitized 4646 snapshot scans
2026-09-09 15:55:17 [INFO] Applying sonar temporal consistency...
2026-09-09 15:55:22 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-09 15:55:23 [INFO] Temporal gap fill: 18% (866/4646)
2026-09-09 15:55:24 [INFO] Temporal gap fill: 37% (1727/4646)
2026-09-09 15:55:25 [INFO] Temporal gap fill: 52% (2453/4646)
2026-09-09 15:55:26 [INFO] Temporal gap fill: 71% (3311/4646)
2026-09-09 15:55:27 [INFO] Temporal gap fill: 89% (4167/4646)
2026-09-09 15:55:28 [INFO] Sonar temporal gap fill (window 2): 726317 points, 7362 candidate beams, filled 3781
2026-09-09 15:55:28 [INFO] Sonar temporal radial outliers: removed 123 of 730098 points
2026-09-09 15:55:29 [INFO] Sonar temporal segment pruning (window 3): removed 27 segments, 353 points
2026-09-09 15:55:29 [INFO] Writing sonar track file...
2026-09-09 15:55:29 [INFO] Writing sonar PTD files...
2026-09-09 15:55:31 [INFO] Sonicer took 1m1.007745124s