+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/e6dbc825-8854-40b7-b6e1-ee8a613e5103/processing/data/sonar_raw.track.cbor
2026-09-10 00:17:05 [INFO] Sonicer 0.0.3
2026-09-10 00:17:06 [INFO] Recording GUID: e6dbc825-8854-40b7-b6e1-ee8a613e5103
2026-09-10 00:17:06 [INFO] Prepared data will be output to /working/e6dbc825-8854-40b7-b6e1-ee8a613e5103/processing/data
2026-09-10 00:17:06 [INFO] Digitizing sonar data...
2026-09-10 00:17:06 [INFO] Using sonar digitizer
2026-09-10 00:17:06 [INFO] Sensor speed of sound is 1500 m/s
2026-09-10 00:17:06 [INFO] Sensor range is 2.550000 m
2026-09-10 00:17:06 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-10 00:17:06 [INFO] Scaled micrometres per sample is 3175.788192
2026-09-10 00:17:07 [INFO] Digitized sonar frames: 10% (28/276)
2026-09-10 00:17:08 [INFO] Digitized sonar frames: 34% (95/276)
2026-09-10 00:17:09 [INFO] Digitized sonar frames: 63% (175/276)
2026-09-10 00:17:10 [INFO] Digitized sonar frames: 92% (255/276)
2026-09-10 00:17:10 [INFO] Digitized 276 snapshot scans
2026-09-10 00:17:10 [INFO] Applying sonar temporal consistency...
2026-09-10 00:17:11 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-10 00:17:11 [INFO] Sonar temporal gap fill (window 2): 44716 points, 1277 candidate beams, filled 523
2026-09-10 00:17:11 [INFO] Sonar temporal radial outliers: removed 3 of 45239 points
2026-09-10 00:17:11 [INFO] Sonar temporal segment pruning (window 3): removed 2 segments, 20 points
2026-09-10 00:17:11 [INFO] Writing sonar track file...
2026-09-10 00:17:11 [INFO] Writing sonar PTD files...
2026-09-10 00:17:11 [INFO] Sonicer took 6.188208803s