+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/eacfab0b-738b-4ce8-8558-8bd2222df508/processing/data/sonar_raw.track.cbor
2026-09-09 15:55:03 [INFO] Sonicer 0.0.3
2026-09-09 15:55:04 [INFO] Recording GUID: eacfab0b-738b-4ce8-8558-8bd2222df508
2026-09-09 15:55:04 [INFO] Prepared data will be output to /working/eacfab0b-738b-4ce8-8558-8bd2222df508/processing/data
2026-09-09 15:55:04 [INFO] Digitizing sonar data...
2026-09-09 15:55:04 [INFO] Using sonar digitizer
2026-09-09 15:55:04 [INFO] Sensor speed of sound is 1500 m/s
2026-09-09 15:55:04 [INFO] Sensor range is 2.550000 m
2026-09-09 15:55:04 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-09 15:55:04 [INFO] Scaled micrometres per sample is 3175.788192
2026-09-09 15:55:05 [INFO] Digitized sonar frames: 10% (50/493)
2026-09-09 15:55:06 [INFO] Digitized sonar frames: 24% (119/493)
2026-09-09 15:55:07 [INFO] Digitized sonar frames: 37% (185/493)
2026-09-09 15:55:09 [INFO] Digitized sonar frames: 50% (250/493)
2026-09-09 15:55:10 [INFO] Digitized sonar frames: 64% (317/493)
2026-09-09 15:55:11 [INFO] Digitized sonar frames: 76% (377/493)
2026-09-09 15:55:12 [INFO] Digitized sonar frames: 89% (439/493)
2026-09-09 15:55:12 [INFO] Digitized 493 snapshot scans
2026-09-09 15:55:12 [INFO] Applying sonar temporal consistency...
2026-09-09 15:55:13 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 2 structures, 19 points
2026-09-09 15:55:14 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-09 15:55:15 [INFO] Sonar temporal gap fill (window 2): 78153 points, 1990 candidate beams, filled 1004
2026-09-09 15:55:15 [INFO] Sonar temporal radial outliers: removed 13 of 79157 points
2026-09-09 15:55:15 [INFO] Sonar temporal segment pruning (window 3): removed 9 segments, 93 points
2026-09-09 15:55:15 [INFO] Writing sonar track file...
2026-09-09 15:55:15 [INFO] Writing sonar PTD files...
2026-09-09 15:55:15 [INFO] Sonicer took 12.737100439s