+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/496f1cba-b231-46a8-bedd-775ab841e0c8/processing/data/sonar_raw.track.cbor
2026-09-10 02:56:16 [INFO] Sonicer 0.0.3
2026-09-10 02:56:17 [INFO] Recording GUID: 496f1cba-b231-46a8-bedd-775ab841e0c8
2026-09-10 02:56:17 [INFO] Prepared data will be output to /working/496f1cba-b231-46a8-bedd-775ab841e0c8/processing/data
2026-09-10 02:56:17 [INFO] Digitizing sonar data...
2026-09-10 02:56:17 [INFO] Using sonar digitizer
2026-09-10 02:56:17 [INFO] Sensor speed of sound is 1500 m/s
2026-09-10 02:56:17 [INFO] Sensor range is 2.550000 m
2026-09-10 02:56:17 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-10 02:56:17 [INFO] Scaled micrometres per sample is 3175.788192
2026-09-10 02:56:18 [INFO] Digitized sonar frames: 22% (122/539)
2026-09-10 02:56:19 [INFO] Digitized sonar frames: 47% (257/539)
2026-09-10 02:56:20 [INFO] Digitized sonar frames: 72% (392/539)
2026-09-10 02:56:21 [INFO] Digitized 539 snapshot scans
2026-09-10 02:56:21 [INFO] Applying sonar temporal consistency...
2026-09-10 02:56:22 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-10 02:56:23 [INFO] Sonar temporal gap fill (window 2): 88480 points, 2514 candidate beams, filled 1411
2026-09-10 02:56:23 [INFO] Sonar temporal radial outliers: removed 98 of 89891 points
2026-09-10 02:56:23 [INFO] Sonar temporal segment pruning (window 3): removed 8 segments, 138 points
2026-09-10 02:56:23 [INFO] Writing sonar track file...
2026-09-10 02:56:23 [INFO] Writing sonar PTD files...
2026-09-10 02:56:23 [INFO] Sonicer took 6.995102721s