+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/fcd02fe1-9212-441b-a72c-fc1790df9c53/processing/data/sonar_raw.track.cbor
2026-09-10 03:45:53 [INFO] Sonicer 0.0.3
2026-09-10 03:45:54 [INFO] Recording GUID: fcd02fe1-9212-441b-a72c-fc1790df9c53
2026-09-10 03:45:54 [INFO] Prepared data will be output to /working/fcd02fe1-9212-441b-a72c-fc1790df9c53/processing/data
2026-09-10 03:45:54 [INFO] Digitizing sonar data...
2026-09-10 03:45:54 [INFO] Using sonar digitizer
2026-09-10 03:45:54 [INFO] Sensor speed of sound is 1500 m/s
2026-09-10 03:45:54 [INFO] Sensor range is 2.550000 m
2026-09-10 03:45:54 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-10 03:45:54 [INFO] Scaled micrometres per sample is 3175.788192
2026-09-10 03:45:55 [INFO] Digitized sonar frames: 10% (76/755)
2026-09-10 03:45:56 [INFO] Digitized sonar frames: 24% (184/755)
2026-09-10 03:45:57 [INFO] Digitized sonar frames: 39% (295/755)
2026-09-10 03:45:58 [INFO] Digitized sonar frames: 53% (403/755)
2026-09-10 03:46:00 [INFO] Digitized sonar frames: 66% (502/755)
2026-09-10 03:46:01 [INFO] Digitized sonar frames: 80% (609/755)
2026-09-10 03:46:02 [INFO] Digitized sonar frames: 94% (714/755)
2026-09-10 03:46:02 [INFO] Digitized 755 snapshot scans
2026-09-10 03:46:02 [INFO] Applying sonar temporal consistency...
2026-09-10 03:46:03 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-10 03:46:04 [INFO] Sonar temporal gap fill (window 2): 127791 points, 4014 candidate beams, filled 2439
2026-09-10 03:46:04 [INFO] Sonar temporal radial outliers: removed 57 of 130230 points
2026-09-10 03:46:04 [INFO] Sonar temporal segment pruning (window 3): removed 1 segments, 8 points
2026-09-10 03:46:04 [INFO] Writing sonar track file...
2026-09-10 03:46:04 [INFO] Writing sonar PTD files...
2026-09-10 03:46:04 [INFO] Sonicer took 11.709863884s