+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/912b4746-3ef8-4699-9087-15647a863ded/processing/data/sonar_raw.track.cbor
2026-09-09 22:01:54 [INFO] Sonicer 0.0.3
2026-09-09 22:01:57 [INFO] Recording GUID: 912b4746-3ef8-4699-9087-15647a863ded
2026-09-09 22:01:57 [INFO] Prepared data will be output to /working/912b4746-3ef8-4699-9087-15647a863ded/processing/data
2026-09-09 22:01:57 [INFO] Digitizing sonar data...
2026-09-09 22:01:57 [INFO] Using sonar digitizer
2026-09-09 22:01:57 [INFO] Sensor speed of sound is 1500 m/s
2026-09-09 22:01:57 [INFO] Sensor range is 3.500000 m
2026-09-09 22:01:57 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-09 22:01:57 [INFO] Scaled micrometres per sample is 4358.925050
2026-09-09 22:01:58 [INFO] Digitized sonar frames: 10% (144/1438)
2026-09-09 22:01:59 [INFO] Digitized sonar frames: 20% (293/1438)
2026-09-09 22:02:00 [INFO] Digitized sonar frames: 30% (439/1438)
2026-09-09 22:02:01 [INFO] Digitized sonar frames: 40% (586/1438)
2026-09-09 22:02:02 [INFO] Digitized sonar frames: 51% (736/1438)
2026-09-09 22:02:03 [INFO] Digitized sonar frames: 61% (885/1438)
2026-09-09 22:02:04 [INFO] Digitized sonar frames: 71% (1022/1438)
2026-09-09 22:02:05 [INFO] Digitized sonar frames: 81% (1177/1438)
2026-09-09 22:02:06 [INFO] Digitized sonar frames: 91% (1318/1438)
2026-09-09 22:02:07 [INFO] Digitized 1438 snapshot scans
2026-09-09 22:02:07 [INFO] Applying sonar temporal consistency...
2026-09-09 22:02:08 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-09 22:02:09 [INFO] Temporal gap fill: 59% (856/1438)
2026-09-09 22:02:10 [INFO] Sonar temporal gap fill (window 2): 231859 points, 1049 candidate beams, filled 388
2026-09-09 22:02:10 [INFO] Sonar temporal radial outliers: removed 37 of 232247 points
2026-09-09 22:02:10 [INFO] Sonar temporal segment pruning (window 3): removed 2 segments, 16 points
2026-09-09 22:02:10 [INFO] Writing sonar track file...
2026-09-09 22:02:10 [INFO] Writing sonar PTD files...
2026-09-09 22:02:11 [INFO] Sonicer took 17.676541005s