+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/980f90ea-4f5e-47fb-bef9-f4361de325f0/processing/data/sonar_raw.track.cbor
2026-09-10 01:38:39 [INFO] Sonicer 0.0.3
2026-09-10 01:38:44 [INFO] Recording GUID: 980f90ea-4f5e-47fb-bef9-f4361de325f0
2026-09-10 01:38:44 [INFO] Prepared data will be output to /working/980f90ea-4f5e-47fb-bef9-f4361de325f0/processing/data
2026-09-10 01:38:44 [INFO] Digitizing sonar data...
2026-09-10 01:38:44 [INFO] Using sonar digitizer
2026-09-10 01:38:44 [INFO] Sensor speed of sound is 1500 m/s
2026-09-10 01:38:44 [INFO] Sensor range is 3.000000 m
2026-09-10 01:38:44 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-10 01:38:44 [INFO] Scaled micrometres per sample is 3736.221472
2026-09-10 01:38:45 [INFO] Digitized sonar frames: 10% (173/1723)
2026-09-10 01:38:46 [INFO] Digitized sonar frames: 20% (345/1723)
2026-09-10 01:38:47 [INFO] Digitized sonar frames: 30% (517/1723)
2026-09-10 01:38:48 [INFO] Digitized sonar frames: 40% (690/1723)
2026-09-10 01:38:49 [INFO] Digitized sonar frames: 50% (862/1723)
2026-09-10 01:38:50 [INFO] Digitized sonar frames: 60% (1034/1723)
2026-09-10 01:38:52 [INFO] Digitized sonar frames: 70% (1207/1723)
2026-09-10 01:38:53 [INFO] Digitized sonar frames: 80% (1379/1723)
2026-09-10 01:38:54 [INFO] Digitized sonar frames: 90% (1551/1723)
2026-09-10 01:38:55 [INFO] Digitized sonar frames: 100% (1723/1723)
2026-09-10 01:38:55 [INFO] Digitized 1723 snapshot scans
2026-09-10 01:38:55 [INFO] Applying sonar temporal consistency...
2026-09-10 01:38:57 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-10 01:38:58 [INFO] Temporal gap fill: 49% (857/1723)
2026-09-10 01:38:59 [INFO] Temporal gap fill: 99% (1713/1723)
2026-09-10 01:38:59 [INFO] Sonar temporal gap fill (window 2): 255616 points, 2906 candidate beams, filled 1381
2026-09-10 01:38:59 [INFO] Sonar temporal radial outliers: removed 21 of 256997 points
2026-09-10 01:39:00 [INFO] Sonar temporal segment pruning (window 3): removed 4 segments, 42 points
2026-09-10 01:39:00 [INFO] Writing sonar track file...
2026-09-10 01:39:00 [INFO] Writing sonar PTD files...
2026-09-10 01:39:01 [INFO] Sonicer took 21.207280006s