+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/f5acc616-9321-46a2-8bd9-0c033280204e/processing/data/sonar_raw.track.cbor
2026-09-09 17:23:52 [INFO] Sonicer 0.0.3
2026-09-09 17:23:57 [INFO] Recording GUID: f5acc616-9321-46a2-8bd9-0c033280204e
2026-09-09 17:23:57 [INFO] Prepared data will be output to /working/f5acc616-9321-46a2-8bd9-0c033280204e/processing/data
2026-09-09 17:23:57 [INFO] Digitizing sonar data...
2026-09-09 17:23:57 [INFO] Using sonar digitizer
2026-09-09 17:23:57 [INFO] Sensor speed of sound is 1500 m/s
2026-09-09 17:23:57 [INFO] Sensor range is 3.500000 m
2026-09-09 17:23:57 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-09 17:23:57 [INFO] Scaled micrometres per sample is 4358.925050
2026-09-09 17:23:58 [INFO] Digitized sonar frames: 10% (195/1949)
2026-09-09 17:24:00 [INFO] Digitized sonar frames: 20% (390/1949)
2026-09-09 17:24:01 [INFO] Digitized sonar frames: 30% (585/1949)
2026-09-09 17:24:02 [INFO] Digitized sonar frames: 40% (780/1949)
2026-09-09 17:24:04 [INFO] Digitized sonar frames: 50% (975/1949)
2026-09-09 17:24:05 [INFO] Digitized sonar frames: 60% (1170/1949)
2026-09-09 17:24:07 [INFO] Digitized sonar frames: 70% (1365/1949)
2026-09-09 17:24:08 [INFO] Digitized sonar frames: 80% (1560/1949)
2026-09-09 17:24:09 [INFO] Digitized sonar frames: 90% (1755/1949)
2026-09-09 17:24:11 [INFO] Digitized sonar frames: 100% (1949/1949)
2026-09-09 17:24:11 [INFO] Digitized 1949 snapshot scans
2026-09-09 17:24:11 [INFO] Applying sonar temporal consistency...
2026-09-09 17:24:13 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 1 structures, 8 points
2026-09-09 17:24:15 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-09 17:24:16 [INFO] Temporal gap fill: 43% (856/1949)
2026-09-09 17:24:17 [INFO] Temporal gap fill: 87% (1715/1949)
2026-09-09 17:24:17 [INFO] Sonar temporal gap fill (window 2): 312810 points, 3483 candidate beams, filled 2043
2026-09-09 17:24:18 [INFO] Sonar temporal radial outliers: removed 79 of 314853 points
2026-09-09 17:24:18 [INFO] Sonar temporal segment pruning (window 3): removed 8 segments, 107 points
2026-09-09 17:24:18 [INFO] Writing sonar track file...
2026-09-09 17:24:18 [INFO] Writing sonar PTD files...
2026-09-09 17:24:19 [INFO] Sonicer took 26.662154003s