+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/e508035a-42ec-49f5-b8a2-ec8b348ef03a/processing/data/sonar_raw.track.cbor
2026-09-10 04:37:04 [INFO] Sonicer 0.0.3
2026-09-10 04:37:07 [INFO] Recording GUID: e508035a-42ec-49f5-b8a2-ec8b348ef03a
2026-09-10 04:37:07 [INFO] Prepared data will be output to /working/e508035a-42ec-49f5-b8a2-ec8b348ef03a/processing/data
2026-09-10 04:37:07 [INFO] Digitizing sonar data...
2026-09-10 04:37:07 [INFO] Using sonar digitizer
2026-09-10 04:37:07 [INFO] Sensor speed of sound is 1500 m/s
2026-09-10 04:37:07 [INFO] Sensor range is 2.800000 m
2026-09-10 04:37:07 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-10 04:37:07 [INFO] Scaled micrometres per sample is 3487.139981
2026-09-10 04:37:08 [INFO] Digitized sonar frames: 10% (121/1163)
2026-09-10 04:37:09 [INFO] Digitized sonar frames: 22% (256/1163)
2026-09-10 04:37:10 [INFO] Digitized sonar frames: 33% (394/1163)
2026-09-10 04:37:11 [INFO] Digitized sonar frames: 45% (530/1163)
2026-09-10 04:37:12 [INFO] Digitized sonar frames: 58% (677/1163)
2026-09-10 04:37:13 [INFO] Digitized sonar frames: 69% (812/1163)
2026-09-10 04:37:14 [INFO] Digitized sonar frames: 81% (950/1163)
2026-09-10 04:37:15 [INFO] Digitized sonar frames: 93% (1091/1163)
2026-09-10 04:37:15 [INFO] Digitized 1163 snapshot scans
2026-09-10 04:37:15 [INFO] Applying sonar temporal consistency...
2026-09-10 04:37:17 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 1 structures, 13 points
2026-09-10 04:37:18 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-10 04:37:19 [INFO] Temporal gap fill: 73% (849/1163)
2026-09-10 04:37:19 [INFO] Sonar temporal gap fill (window 2): 239278 points, 2515 candidate beams, filled 1336
2026-09-10 04:37:20 [INFO] Sonar temporal radial outliers: removed 25 of 240614 points
2026-09-10 04:37:20 [INFO] Sonar temporal segment pruning (window 3): removed 5 segments, 43 points
2026-09-10 04:37:20 [INFO] Writing sonar track file...
2026-09-10 04:37:20 [INFO] Writing sonar PTD files...
2026-09-10 04:37:21 [INFO] Sonicer took 16.430626651s