+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/a36305ba-8305-474d-9bd8-95612d13b955/processing/data/sonar_raw.track.cbor
2026-09-09 19:46:01 [INFO] Sonicer 0.0.3
2026-09-09 19:46:03 [INFO] Recording GUID: a36305ba-8305-474d-9bd8-95612d13b955
2026-09-09 19:46:03 [INFO] Prepared data will be output to /working/a36305ba-8305-474d-9bd8-95612d13b955/processing/data
2026-09-09 19:46:03 [INFO] Digitizing sonar data...
2026-09-09 19:46:03 [INFO] Using sonar digitizer
2026-09-09 19:46:03 [INFO] Sensor speed of sound is 1500 m/s
2026-09-09 19:46:03 [INFO] Sensor range is 2.550000 m
2026-09-09 19:46:03 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-09 19:46:03 [INFO] Scaled micrometres per sample is 3175.788192
2026-09-09 19:46:04 [INFO] Digitized sonar frames: 20% (109/528)
2026-09-09 19:46:05 [INFO] Digitized sonar frames: 45% (239/528)
2026-09-09 19:46:06 [INFO] Digitized sonar frames: 71% (380/528)
2026-09-09 19:46:07 [INFO] Digitized 528 snapshot scans
2026-09-09 19:46:07 [INFO] Applying sonar temporal consistency...
2026-09-09 19:46:07 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-09 19:46:08 [INFO] Sonar temporal gap fill (window 2): 79175 points, 3122 candidate beams, filled 1906
2026-09-09 19:46:08 [INFO] Sonar temporal radial outliers: removed 44 of 81081 points
2026-09-09 19:46:08 [INFO] Sonar temporal segment pruning (window 3): removed 3 segments, 45 points
2026-09-09 19:46:08 [INFO] Writing sonar track file...
2026-09-09 19:46:08 [INFO] Writing sonar PTD files...
2026-09-09 19:46:08 [INFO] Sonicer took 6.997353678s