+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/48e59443-a586-4cb0-b10b-dd32f727573e/processing/data/sonar_raw.track.cbor
2026-09-09 19:45:35 [INFO] Sonicer 0.0.3
2026-09-09 19:45:37 [INFO] Recording GUID: 48e59443-a586-4cb0-b10b-dd32f727573e
2026-09-09 19:45:37 [INFO] Prepared data will be output to /working/48e59443-a586-4cb0-b10b-dd32f727573e/processing/data
2026-09-09 19:45:37 [INFO] Digitizing sonar data...
2026-09-09 19:45:37 [INFO] Using sonar digitizer
2026-09-09 19:45:37 [INFO] Sensor speed of sound is 1500 m/s
2026-09-09 19:45:37 [INFO] Sensor range is 2.550000 m
2026-09-09 19:45:37 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-09 19:45:37 [INFO] Scaled micrometres per sample is 3175.788192
2026-09-09 19:45:38 [INFO] Digitized sonar frames: 14% (108/743)
2026-09-09 19:45:39 [INFO] Digitized sonar frames: 33% (246/743)
2026-09-09 19:45:40 [INFO] Digitized sonar frames: 51% (380/743)
2026-09-09 19:45:41 [INFO] Digitized sonar frames: 69% (517/743)
2026-09-09 19:45:42 [INFO] Digitized sonar frames: 85% (633/743)
2026-09-09 19:45:43 [INFO] Digitized 743 snapshot scans
2026-09-09 19:45:43 [INFO] Applying sonar temporal consistency...
2026-09-09 19:45:43 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 3 structures, 32 points
2026-09-09 19:45:44 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-09 19:45:45 [INFO] Sonar temporal gap fill (window 2): 116567 points, 5065 candidate beams, filled 3662
2026-09-09 19:45:45 [INFO] Sonar temporal radial outliers: removed 50 of 120229 points
2026-09-09 19:45:45 [INFO] Sonar temporal segment pruning (window 3): removed 12 segments, 274 points
2026-09-09 19:45:45 [INFO] Writing sonar track file...
2026-09-09 19:45:45 [INFO] Writing sonar PTD files...
2026-09-09 19:45:46 [INFO] Sonicer took 10.61624345s