+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/e37da15e-d91f-4446-9d56-6dbb3fa7084b/processing/data/sonar_raw.track.cbor
2026-09-10 03:22:19 [INFO] Sonicer 0.0.3
2026-09-10 03:22:20 [INFO] Recording GUID: e37da15e-d91f-4446-9d56-6dbb3fa7084b
2026-09-10 03:22:20 [INFO] Prepared data will be output to /working/e37da15e-d91f-4446-9d56-6dbb3fa7084b/processing/data
2026-09-10 03:22:20 [INFO] Digitizing sonar data...
2026-09-10 03:22:20 [INFO] Using sonar digitizer
2026-09-10 03:22:20 [INFO] Sensor speed of sound is 1500 m/s
2026-09-10 03:22:20 [INFO] Sensor range is 2.550000 m
2026-09-10 03:22:20 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-10 03:22:20 [INFO] Scaled micrometres per sample is 3175.788192
2026-09-10 03:22:21 [INFO] Digitized sonar frames: 21% (116/538)
2026-09-10 03:22:22 [INFO] Digitized sonar frames: 47% (255/538)
2026-09-10 03:22:23 [INFO] Digitized sonar frames: 73% (397/538)
2026-09-10 03:22:24 [INFO] Digitized 538 snapshot scans
2026-09-10 03:22:24 [INFO] Applying sonar temporal consistency...
2026-09-10 03:22:25 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 15 structures, 295 points
2026-09-10 03:22:25 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-10 03:22:26 [INFO] Sonar temporal gap fill (window 2): 80147 points, 5183 candidate beams, filled 4416
2026-09-10 03:22:26 [INFO] Sonar temporal radial outliers: removed 67 of 84563 points
2026-09-10 03:22:26 [INFO] Sonar temporal segment pruning (window 3): removed 16 segments, 390 points
2026-09-10 03:22:26 [INFO] Writing sonar track file...
2026-09-10 03:22:26 [INFO] Writing sonar PTD files...
2026-09-10 03:22:26 [INFO] Sonicer took 7.390395728s