+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/81b0da0c-52c4-4250-aa72-183f4a436b0a/processing/data/sonar_raw.track.cbor
2026-09-09 17:21:27 [INFO] Sonicer 0.0.3
2026-09-09 17:21:31 [INFO] Recording GUID: 81b0da0c-52c4-4250-aa72-183f4a436b0a
2026-09-09 17:21:31 [INFO] Prepared data will be output to /working/81b0da0c-52c4-4250-aa72-183f4a436b0a/processing/data
2026-09-09 17:21:31 [INFO] Digitizing sonar data...
2026-09-09 17:21:31 [INFO] Using sonar digitizer
2026-09-09 17:21:31 [INFO] Sensor speed of sound is 1500 m/s
2026-09-09 17:21:31 [INFO] Sensor range is 3.500000 m
2026-09-09 17:21:31 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-09 17:21:31 [INFO] Scaled micrometres per sample is 4358.925050
2026-09-09 17:21:32 [INFO] Digitized sonar frames: 10% (162/1615)
2026-09-09 17:21:34 [INFO] Digitized sonar frames: 20% (323/1615)
2026-09-09 17:21:36 [INFO] Digitized sonar frames: 30% (485/1615)
2026-09-09 17:21:37 [INFO] Digitized sonar frames: 40% (646/1615)
2026-09-09 17:21:39 [INFO] Digitized sonar frames: 50% (808/1615)
2026-09-09 17:21:40 [INFO] Digitized sonar frames: 60% (969/1615)
2026-09-09 17:21:42 [INFO] Digitized sonar frames: 70% (1131/1615)
2026-09-09 17:21:43 [INFO] Digitized sonar frames: 80% (1292/1615)
2026-09-09 17:21:45 [INFO] Digitized sonar frames: 90% (1454/1615)
2026-09-09 17:21:46 [INFO] Digitized sonar frames: 100% (1615/1615)
2026-09-09 17:21:46 [INFO] Digitized 1615 snapshot scans
2026-09-09 17:21:46 [INFO] Applying sonar temporal consistency...
2026-09-09 17:21:48 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-09 17:21:49 [INFO] Temporal gap fill: 52% (841/1615)
2026-09-09 17:21:50 [INFO] Sonar temporal gap fill (window 2): 260760 points, 1011 candidate beams, filled 355
2026-09-09 17:21:50 [INFO] Sonar temporal radial outliers: removed 22 of 261115 points
2026-09-09 17:21:50 [INFO] Sonar temporal segment pruning (window 3): removed 4 segments, 39 points
2026-09-09 17:21:50 [INFO] Writing sonar track file...
2026-09-09 17:21:50 [INFO] Writing sonar PTD files...
2026-09-09 17:21:51 [INFO] Sonicer took 24.506957652s