+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/19d1f8fd-585c-4b42-ac0f-550b32eeb740/processing/data/sonar_raw.track.cbor
2026-09-09 15:56:03 [INFO] Sonicer 0.0.3
2026-09-09 15:56:04 [INFO] Recording GUID: 19d1f8fd-585c-4b42-ac0f-550b32eeb740
2026-09-09 15:56:04 [INFO] Prepared data will be output to /working/19d1f8fd-585c-4b42-ac0f-550b32eeb740/processing/data
2026-09-09 15:56:04 [INFO] Digitizing sonar data...
2026-09-09 15:56:04 [INFO] Using sonar digitizer
2026-09-09 15:56:04 [INFO] Sensor speed of sound is 1500 m/s
2026-09-09 15:56:04 [INFO] Sensor range is 2.550000 m
2026-09-09 15:56:04 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-09 15:56:04 [INFO] Scaled micrometres per sample is 3175.788192
2026-09-09 15:56:05 [INFO] Digitized sonar frames: 17% (104/610)
2026-09-09 15:56:06 [INFO] Digitized sonar frames: 40% (246/610)
2026-09-09 15:56:07 [INFO] Digitized sonar frames: 63% (390/610)
2026-09-09 15:56:08 [INFO] Digitized sonar frames: 85% (520/610)
2026-09-09 15:56:09 [INFO] Digitized 610 snapshot scans
2026-09-09 15:56:09 [INFO] Applying sonar temporal consistency...
2026-09-09 15:56:10 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-09 15:56:10 [INFO] Sonar temporal gap fill (window 2): 100532 points, 2103 candidate beams, filled 1058
2026-09-09 15:56:10 [INFO] Sonar temporal radial outliers: removed 26 of 101590 points
2026-09-09 15:56:10 [INFO] Sonar temporal segment pruning (window 3): removed 6 segments, 54 points
2026-09-09 15:56:10 [INFO] Writing sonar track file...
2026-09-09 15:56:10 [INFO] Writing sonar PTD files...
2026-09-09 15:56:11 [INFO] Sonicer took 8.064340553s