+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/658eaa5e-aefa-49ef-91f5-627d539d2751/processing/data/sonar_raw.track.cbor
2026-09-10 02:20:59 [INFO] Sonicer 0.0.3
2026-09-10 02:21:00 [INFO] Recording GUID: 658eaa5e-aefa-49ef-91f5-627d539d2751
2026-09-10 02:21:00 [INFO] Prepared data will be output to /working/658eaa5e-aefa-49ef-91f5-627d539d2751/processing/data
2026-09-10 02:21:00 [INFO] Digitizing sonar data...
2026-09-10 02:21:00 [INFO] Using sonar digitizer
2026-09-10 02:21:00 [INFO] Sensor speed of sound is 1500 m/s
2026-09-10 02:21:00 [INFO] Sensor range is 2.550000 m
2026-09-10 02:21:00 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-10 02:21:00 [INFO] Scaled micrometres per sample is 3175.788192
2026-09-10 02:21:01 [INFO] Digitized sonar frames: 44% (104/232)
2026-09-10 02:21:02 [INFO] Digitized 232 snapshot scans
2026-09-10 02:21:02 [INFO] Applying sonar temporal consistency...
2026-09-10 02:21:02 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 2 structures, 54 points
2026-09-10 02:21:03 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-10 02:21:03 [INFO] Sonar temporal gap fill (window 2): 30912 points, 3334 candidate beams, filled 3000
2026-09-10 02:21:03 [INFO] Sonar temporal radial outliers: removed 52 of 33912 points
2026-09-10 02:21:03 [INFO] Sonar temporal segment pruning (window 3): removed 5 segments, 92 points
2026-09-10 02:21:03 [INFO] Writing sonar track file...
2026-09-10 02:21:03 [INFO] Writing sonar PTD files...
2026-09-10 02:21:03 [INFO] Sonicer took 3.486796951s