+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/bd0f64c2-b12d-4662-8911-6dc383835817/processing/data/sonar_raw.track.cbor
2026-09-10 04:38:51 [INFO] Sonicer 0.0.3
2026-09-10 04:38:53 [INFO] Recording GUID: bd0f64c2-b12d-4662-8911-6dc383835817
2026-09-10 04:38:53 [INFO] Prepared data will be output to /working/bd0f64c2-b12d-4662-8911-6dc383835817/processing/data
2026-09-10 04:38:53 [INFO] Digitizing sonar data...
2026-09-10 04:38:53 [INFO] Using sonar digitizer
2026-09-10 04:38:53 [INFO] Sensor speed of sound is 1500 m/s
2026-09-10 04:38:53 [INFO] Sensor range is 2.800000 m
2026-09-10 04:38:53 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-10 04:38:53 [INFO] Scaled micrometres per sample is 3487.139981
2026-09-10 04:38:54 [INFO] Digitized sonar frames: 10% (119/1181)
2026-09-10 04:38:55 [INFO] Digitized sonar frames: 21% (254/1181)
2026-09-10 04:38:57 [INFO] Digitized sonar frames: 33% (394/1181)
2026-09-10 04:38:58 [INFO] Digitized sonar frames: 45% (538/1181)
2026-09-10 04:38:59 [INFO] Digitized sonar frames: 57% (674/1181)
2026-09-10 04:39:00 [INFO] Digitized sonar frames: 68% (814/1181)
2026-09-10 04:39:01 [INFO] Digitized sonar frames: 80% (951/1181)
2026-09-10 04:39:02 [INFO] Digitized sonar frames: 92% (1093/1181)
2026-09-10 04:39:02 [INFO] Digitized 1181 snapshot scans
2026-09-10 04:39:02 [INFO] Applying sonar temporal consistency...
2026-09-10 04:39:04 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-10 04:39:05 [INFO] Temporal gap fill: 71% (843/1181)
2026-09-10 04:39:05 [INFO] Sonar temporal gap fill (window 2): 247855 points, 1620 candidate beams, filled 867
2026-09-10 04:39:05 [INFO] Sonar temporal radial outliers: removed 0 of 248722 points
2026-09-10 04:39:05 [INFO] Sonar temporal segment pruning (window 3): removed 0 segments, 0 points
2026-09-10 04:39:05 [INFO] Writing sonar track file...
2026-09-10 04:39:05 [INFO] Writing sonar PTD files...
2026-09-10 04:39:06 [INFO] Sonicer took 15.482185902s