+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/cc565e2a-c168-462e-a9c1-b82429f904d4/processing/data/sonar_raw.track.cbor
2026-09-10 00:17:05 [INFO] Sonicer 0.0.3
2026-09-10 00:17:06 [INFO] Recording GUID: cc565e2a-c168-462e-a9c1-b82429f904d4
2026-09-10 00:17:06 [INFO] Prepared data will be output to /working/cc565e2a-c168-462e-a9c1-b82429f904d4/processing/data
2026-09-10 00:17:06 [INFO] Digitizing sonar data...
2026-09-10 00:17:06 [INFO] Using sonar digitizer
2026-09-10 00:17:06 [INFO] Sensor speed of sound is 1500 m/s
2026-09-10 00:17:06 [INFO] Sensor range is 2.100000 m
2026-09-10 00:17:06 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-10 00:17:06 [INFO] Scaled micrometres per sample is 2615.354911
2026-09-10 00:17:07 [INFO] Digitized sonar frames: 20% (68/335)
2026-09-10 00:17:08 [INFO] Digitized sonar frames: 42% (144/335)
2026-09-10 00:17:09 [INFO] Digitized sonar frames: 62% (208/335)
2026-09-10 00:17:10 [INFO] Digitized sonar frames: 81% (273/335)
2026-09-10 00:17:11 [INFO] Digitized 335 snapshot scans
2026-09-10 00:17:11 [INFO] Applying sonar temporal consistency...
2026-09-10 00:17:11 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 2 structures, 37 points
2026-09-10 00:17:11 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-10 00:17:12 [INFO] Sonar temporal gap fill (window 2): 58162 points, 1771 candidate beams, filled 1236
2026-09-10 00:17:12 [INFO] Sonar temporal radial outliers: removed 192 of 59398 points
2026-09-10 00:17:12 [INFO] Sonar temporal segment pruning (window 3): removed 5 segments, 53 points
2026-09-10 00:17:12 [INFO] Writing sonar track file...
2026-09-10 00:17:12 [INFO] Writing sonar PTD files...
2026-09-10 00:17:12 [INFO] Sonicer took 6.974991876s