+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/43a3cc42-92a9-4cbd-b270-da3be83d9e1e/processing/data/sonar_raw.track.cbor
2026-09-10 03:49:16 [INFO] Sonicer 0.0.3
2026-09-10 03:49:17 [INFO] Recording GUID: 43a3cc42-92a9-4cbd-b270-da3be83d9e1e
2026-09-10 03:49:17 [INFO] Prepared data will be output to /working/43a3cc42-92a9-4cbd-b270-da3be83d9e1e/processing/data
2026-09-10 03:49:17 [INFO] Digitizing sonar data...
2026-09-10 03:49:17 [INFO] Using sonar digitizer
2026-09-10 03:49:17 [INFO] Sensor speed of sound is 1500 m/s
2026-09-10 03:49:17 [INFO] Sensor range is 2.550000 m
2026-09-10 03:49:17 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-10 03:49:17 [INFO] Scaled micrometres per sample is 3175.788192
2026-09-10 03:49:18 [INFO] Digitized sonar frames: 24% (118/477)
2026-09-10 03:49:19 [INFO] Digitized sonar frames: 54% (260/477)
2026-09-10 03:49:20 [INFO] Digitized sonar frames: 85% (407/477)
2026-09-10 03:49:20 [INFO] Digitized 477 snapshot scans
2026-09-10 03:49:20 [INFO] Applying sonar temporal consistency...
2026-09-10 03:49:21 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-10 03:49:21 [INFO] Sonar temporal gap fill (window 2): 75360 points, 1442 candidate beams, filled 803
2026-09-10 03:49:21 [INFO] Sonar temporal radial outliers: removed 1 of 76163 points
2026-09-10 03:49:21 [INFO] Sonar temporal segment pruning (window 3): removed 2 segments, 38 points
2026-09-10 03:49:21 [INFO] Writing sonar track file...
2026-09-10 03:49:21 [INFO] Writing sonar PTD files...
2026-09-10 03:49:22 [INFO] Sonicer took 5.844320895s