+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/869eee53-3b66-4210-85b7-4359d78d3bf6/processing/data/sonar_raw.track.cbor
2026-09-09 22:02:27 [INFO] Sonicer 0.0.3
2026-09-09 22:02:35 [INFO] Recording GUID: 869eee53-3b66-4210-85b7-4359d78d3bf6
2026-09-09 22:02:35 [INFO] Prepared data will be output to /working/869eee53-3b66-4210-85b7-4359d78d3bf6/processing/data
2026-09-09 22:02:35 [INFO] Digitizing sonar data...
2026-09-09 22:02:35 [INFO] Using sonar digitizer
2026-09-09 22:02:35 [INFO] Sensor speed of sound is 1500 m/s
2026-09-09 22:02:35 [INFO] Sensor range is 3.000000 m
2026-09-09 22:02:35 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-09 22:02:35 [INFO] Scaled micrometres per sample is 3736.221472
2026-09-09 22:02:38 [INFO] Digitized sonar frames: 10% (363/3622)
2026-09-09 22:02:41 [INFO] Digitized sonar frames: 20% (725/3622)
2026-09-09 22:02:43 [INFO] Digitized sonar frames: 30% (1087/3622)
2026-09-09 22:02:46 [INFO] Digitized sonar frames: 40% (1449/3622)
2026-09-09 22:02:49 [INFO] Digitized sonar frames: 50% (1811/3622)
2026-09-09 22:02:51 [INFO] Digitized sonar frames: 60% (2174/3622)
2026-09-09 22:02:54 [INFO] Digitized sonar frames: 70% (2536/3622)
2026-09-09 22:02:56 [INFO] Digitized sonar frames: 80% (2898/3622)
2026-09-09 22:02:59 [INFO] Digitized sonar frames: 90% (3260/3622)
2026-09-09 22:03:02 [INFO] Digitized sonar frames: 100% (3622/3622)
2026-09-09 22:03:02 [INFO] Digitized 3622 snapshot scans
2026-09-09 22:03:02 [INFO] Applying sonar temporal consistency...
2026-09-09 22:03:06 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-09 22:03:07 [INFO] Temporal gap fill: 23% (863/3622)
2026-09-09 22:03:08 [INFO] Temporal gap fill: 45% (1665/3622)
2026-09-09 22:03:09 [INFO] Temporal gap fill: 69% (2501/3622)
2026-09-09 22:03:10 [INFO] Temporal gap fill: 91% (3301/3622)
2026-09-09 22:03:10 [INFO] Sonar temporal gap fill (window 2): 572501 points, 2717 candidate beams, filled 828
2026-09-09 22:03:11 [INFO] Sonar temporal radial outliers: removed 30 of 573329 points
2026-09-09 22:03:11 [INFO] Sonar temporal segment pruning (window 3): removed 2 segments, 21 points
2026-09-09 22:03:11 [INFO] Writing sonar track file...
2026-09-09 22:03:11 [INFO] Writing sonar PTD files...
2026-09-09 22:03:14 [INFO] Sonicer took 46.846201981s