+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/5896b7f0-7080-4b8c-8a5f-9c25aaad2a35/processing/data/sonar_raw.track.cbor
2026-09-10 02:20:55 [INFO] Sonicer 0.0.3
2026-09-10 02:20:56 [INFO] Recording GUID: 5896b7f0-7080-4b8c-8a5f-9c25aaad2a35
2026-09-10 02:20:56 [INFO] Prepared data will be output to /working/5896b7f0-7080-4b8c-8a5f-9c25aaad2a35/processing/data
2026-09-10 02:20:56 [INFO] Digitizing sonar data...
2026-09-10 02:20:56 [INFO] Using sonar digitizer
2026-09-10 02:20:56 [INFO] Sensor speed of sound is 1500 m/s
2026-09-10 02:20:56 [INFO] Sensor range is 2.550000 m
2026-09-10 02:20:56 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-10 02:20:56 [INFO] Scaled micrometres per sample is 3175.788192
2026-09-10 02:20:57 [INFO] Digitized sonar frames: 38% (117/303)
2026-09-10 02:20:58 [INFO] Digitized sonar frames: 84% (255/303)
2026-09-10 02:20:58 [INFO] Digitized 303 snapshot scans
2026-09-10 02:20:58 [INFO] Applying sonar temporal consistency...
2026-09-10 02:20:59 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-10 02:20:59 [INFO] Sonar temporal gap fill (window 2): 48534 points, 1202 candidate beams, filled 672
2026-09-10 02:20:59 [INFO] Sonar temporal radial outliers: removed 1 of 49206 points
2026-09-10 02:20:59 [INFO] Sonar temporal segment pruning (window 3): removed 1 segments, 23 points
2026-09-10 02:20:59 [INFO] Writing sonar track file...
2026-09-10 02:20:59 [INFO] Writing sonar PTD files...
2026-09-10 02:20:59 [INFO] Sonicer took 4.002066118s