+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/e0f24b57-6a81-4a79-bf65-c9b3c1e721a9/processing/data/sonar_raw.track.cbor
2026-09-10 02:45:07 [INFO] Sonicer 0.0.3
2026-09-10 02:45:09 [INFO] Recording GUID: e0f24b57-6a81-4a79-bf65-c9b3c1e721a9
2026-09-10 02:45:09 [INFO] Prepared data will be output to /working/e0f24b57-6a81-4a79-bf65-c9b3c1e721a9/processing/data
2026-09-10 02:45:09 [INFO] Digitizing sonar data...
2026-09-10 02:45:09 [INFO] Using sonar digitizer
2026-09-10 02:45:09 [INFO] Sensor speed of sound is 1500 m/s
2026-09-10 02:45:09 [INFO] Sensor range is 2.550000 m
2026-09-10 02:45:09 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-10 02:45:09 [INFO] Scaled micrometres per sample is 3175.788192
2026-09-10 02:45:10 [INFO] Digitized sonar frames: 17% (110/633)
2026-09-10 02:45:11 [INFO] Digitized sonar frames: 37% (237/633)
2026-09-10 02:45:12 [INFO] Digitized sonar frames: 58% (370/633)
2026-09-10 02:45:13 [INFO] Digitized sonar frames: 79% (503/633)
2026-09-10 02:45:14 [INFO] Digitized 633 snapshot scans
2026-09-10 02:45:14 [INFO] Applying sonar temporal consistency...
2026-09-10 02:45:14 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 36 structures, 656 points
2026-09-10 02:45:15 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-10 02:45:16 [INFO] Sonar temporal gap fill (window 2): 92381 points, 9932 candidate beams, filled 8620
2026-09-10 02:45:16 [INFO] Sonar temporal radial outliers: removed 164 of 101001 points
2026-09-10 02:45:16 [INFO] Sonar temporal segment pruning (window 3): removed 26 segments, 648 points
2026-09-10 02:45:16 [INFO] Writing sonar track file...
2026-09-10 02:45:16 [INFO] Writing sonar PTD files...
2026-09-10 02:45:16 [INFO] Sonicer took 9.079485056s