+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/5153ddea-9b42-49bd-aee0-96d92173aaca/processing/data/sonar_raw.track.cbor
2026-09-10 01:36:40 [INFO] Sonicer 0.0.3
2026-09-10 01:36:40 [INFO] Recording GUID: 5153ddea-9b42-49bd-aee0-96d92173aaca
2026-09-10 01:36:40 [INFO] Prepared data will be output to /working/5153ddea-9b42-49bd-aee0-96d92173aaca/processing/data
2026-09-10 01:36:40 [INFO] Digitizing sonar data...
2026-09-10 01:36:40 [INFO] Using sonar digitizer
2026-09-10 01:36:40 [INFO] Sensor speed of sound is 1500 m/s
2026-09-10 01:36:40 [INFO] Sensor range is 2.100000 m
2026-09-10 01:36:40 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-10 01:36:40 [INFO] Scaled micrometres per sample is 2615.354911
2026-09-10 01:36:41 [INFO] Digitized sonar frames: 28% (92/324)
2026-09-10 01:36:42 [INFO] Digitized sonar frames: 61% (198/324)
2026-09-10 01:36:43 [INFO] Digitized 324 snapshot scans
2026-09-10 01:36:43 [INFO] Applying sonar temporal consistency...
2026-09-10 01:36:44 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-10 01:36:44 [INFO] Sonar temporal gap fill (window 2): 54349 points, 1251 candidate beams, filled 778
2026-09-10 01:36:44 [INFO] Sonar temporal radial outliers: removed 31 of 55127 points
2026-09-10 01:36:44 [INFO] Sonar temporal segment pruning (window 3): removed 2 segments, 32 points
2026-09-10 01:36:44 [INFO] Writing sonar track file...
2026-09-10 01:36:44 [INFO] Writing sonar PTD files...
2026-09-10 01:36:44 [INFO] Sonicer took 4.712386916s