+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/9c248d51-6632-4696-8c75-723a5afdbfc2/processing/data/sonar_raw.track.cbor
2026-09-09 15:55:28 [INFO] Sonicer 0.0.3
2026-09-09 15:55:36 [INFO] Recording GUID: 9c248d51-6632-4696-8c75-723a5afdbfc2
2026-09-09 15:55:36 [INFO] Prepared data will be output to /working/9c248d51-6632-4696-8c75-723a5afdbfc2/processing/data
2026-09-09 15:55:36 [INFO] Digitizing sonar data...
2026-09-09 15:55:36 [INFO] Using sonar digitizer
2026-09-09 15:55:36 [INFO] Sensor speed of sound is 1500 m/s
2026-09-09 15:55:36 [INFO] Sensor range is 3.000000 m
2026-09-09 15:55:36 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-09 15:55:36 [INFO] Scaled micrometres per sample is 3736.221472
2026-09-09 15:55:39 [INFO] Digitized sonar frames: 10% (348/3477)
2026-09-09 15:55:41 [INFO] Digitized sonar frames: 20% (696/3477)
2026-09-09 15:55:43 [INFO] Digitized sonar frames: 30% (1044/3477)
2026-09-09 15:55:46 [INFO] Digitized sonar frames: 40% (1391/3477)
2026-09-09 15:55:49 [INFO] Digitized sonar frames: 50% (1739/3477)
2026-09-09 15:55:52 [INFO] Digitized sonar frames: 60% (2087/3477)
2026-09-09 15:55:54 [INFO] Digitized sonar frames: 70% (2434/3477)
2026-09-09 15:55:57 [INFO] Digitized sonar frames: 80% (2782/3477)
2026-09-09 15:55:59 [INFO] Digitized sonar frames: 90% (3130/3477)
2026-09-09 15:56:01 [INFO] Digitized sonar frames: 100% (3477/3477)
2026-09-09 15:56:01 [INFO] Digitized 3477 snapshot scans
2026-09-09 15:56:01 [INFO] Applying sonar temporal consistency...
2026-09-09 15:56:06 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-09 15:56:07 [INFO] Temporal gap fill: 18% (637/3477)
2026-09-09 15:56:08 [INFO] Temporal gap fill: 36% (1276/3477)
2026-09-09 15:56:09 [INFO] Temporal gap fill: 57% (1987/3477)
2026-09-09 15:56:10 [INFO] Temporal gap fill: 81% (2841/3477)
2026-09-09 15:56:11 [INFO] Sonar temporal gap fill (window 2): 548782 points, 2781 candidate beams, filled 1074
2026-09-09 15:56:11 [INFO] Sonar temporal radial outliers: removed 44 of 549856 points
2026-09-09 15:56:11 [INFO] Sonar temporal segment pruning (window 3): removed 3 segments, 38 points
2026-09-09 15:56:11 [INFO] Writing sonar track file...
2026-09-09 15:56:11 [INFO] Writing sonar PTD files...
2026-09-09 15:56:13 [INFO] Sonicer took 45.945312777s