+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/9d024a22-cd0c-4dd9-a8d0-73ac2da8c161/processing/data/sonar_raw.track.cbor
2026-09-10 03:48:43 [INFO] Sonicer 0.0.3
2026-09-10 03:48:44 [INFO] Recording GUID: 9d024a22-cd0c-4dd9-a8d0-73ac2da8c161
2026-09-10 03:48:44 [INFO] Prepared data will be output to /working/9d024a22-cd0c-4dd9-a8d0-73ac2da8c161/processing/data
2026-09-10 03:48:44 [INFO] Digitizing sonar data...
2026-09-10 03:48:44 [INFO] Using sonar digitizer
2026-09-10 03:48:44 [INFO] Sensor speed of sound is 1500 m/s
2026-09-10 03:48:44 [INFO] Sensor range is 2.550000 m
2026-09-10 03:48:44 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-10 03:48:44 [INFO] Scaled micrometres per sample is 3175.788192
2026-09-10 03:48:45 [INFO] Digitized sonar frames: 16% (90/536)
2026-09-10 03:48:46 [INFO] Digitized sonar frames: 38% (205/536)
2026-09-10 03:48:47 [INFO] Digitized sonar frames: 59% (317/536)
2026-09-10 03:48:48 [INFO] Digitized sonar frames: 80% (432/536)
2026-09-10 03:48:49 [INFO] Digitized 536 snapshot scans
2026-09-10 03:48:49 [INFO] Applying sonar temporal consistency...
2026-09-10 03:48:49 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-10 03:48:50 [INFO] Sonar temporal gap fill (window 2): 87732 points, 2395 candidate beams, filled 1308
2026-09-10 03:48:50 [INFO] Sonar temporal radial outliers: removed 2 of 89040 points
2026-09-10 03:48:50 [INFO] Sonar temporal segment pruning (window 3): removed 0 segments, 0 points
2026-09-10 03:48:50 [INFO] Writing sonar track file...
2026-09-10 03:48:50 [INFO] Writing sonar PTD files...
2026-09-10 03:48:50 [INFO] Sonicer took 7.958884771s