+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/b19abfe7-2e44-432e-9fb9-9b75c351b495/processing/data/sonar_raw.track.cbor
2026-09-10 03:55:54 [INFO] Sonicer 0.0.3
2026-09-10 03:55:56 [INFO] Recording GUID: b19abfe7-2e44-432e-9fb9-9b75c351b495
2026-09-10 03:55:56 [INFO] Prepared data will be output to /working/b19abfe7-2e44-432e-9fb9-9b75c351b495/processing/data
2026-09-10 03:55:56 [INFO] Digitizing sonar data...
2026-09-10 03:55:56 [INFO] Using sonar digitizer
2026-09-10 03:55:56 [INFO] Sensor speed of sound is 1500 m/s
2026-09-10 03:55:56 [INFO] Sensor range is 2.550000 m
2026-09-10 03:55:56 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-10 03:55:56 [INFO] Scaled micrometres per sample is 3175.788192
2026-09-10 03:55:57 [INFO] Digitized sonar frames: 19% (113/576)
2026-09-10 03:55:58 [INFO] Digitized sonar frames: 43% (252/576)
2026-09-10 03:55:59 [INFO] Digitized sonar frames: 67% (389/576)
2026-09-10 03:56:00 [INFO] Digitized sonar frames: 90% (524/576)
2026-09-10 03:56:00 [INFO] Digitized 576 snapshot scans
2026-09-10 03:56:00 [INFO] Applying sonar temporal consistency...
2026-09-10 03:56:01 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 39 structures, 651 points
2026-09-10 03:56:01 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-10 03:56:02 [INFO] Sonar temporal gap fill (window 2): 61006 points, 12633 candidate beams, filled 10929
2026-09-10 03:56:02 [INFO] Sonar temporal radial outliers: removed 227 of 71935 points
2026-09-10 03:56:02 [INFO] Sonar temporal segment pruning (window 3): removed 25 segments, 629 points
2026-09-10 03:56:02 [INFO] Writing sonar track file...
2026-09-10 03:56:02 [INFO] Writing sonar PTD files...
2026-09-10 03:56:03 [INFO] Sonicer took 8.041630829s