+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/4fb03809-cb83-4818-aa3a-dfff70dbd6d0/processing/data/sonar_raw.track.cbor
2026-09-10 03:53:44 [INFO] Sonicer 0.0.3
2026-09-10 03:53:47 [INFO] Recording GUID: 4fb03809-cb83-4818-aa3a-dfff70dbd6d0
2026-09-10 03:53:47 [INFO] Prepared data will be output to /working/4fb03809-cb83-4818-aa3a-dfff70dbd6d0/processing/data
2026-09-10 03:53:47 [INFO] Digitizing sonar data...
2026-09-10 03:53:47 [INFO] Using sonar digitizer
2026-09-10 03:53:47 [INFO] Sensor speed of sound is 1500 m/s
2026-09-10 03:53:47 [INFO] Sensor range is 2.800000 m
2026-09-10 03:53:47 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-10 03:53:47 [INFO] Scaled micrometres per sample is 3487.139981
2026-09-10 03:53:48 [INFO] Digitized sonar frames: 12% (132/1059)
2026-09-10 03:53:49 [INFO] Digitized sonar frames: 25% (273/1059)
2026-09-10 03:53:50 [INFO] Digitized sonar frames: 38% (409/1059)
2026-09-10 03:53:51 [INFO] Digitized sonar frames: 51% (545/1059)
2026-09-10 03:53:52 [INFO] Digitized sonar frames: 64% (682/1059)
2026-09-10 03:53:53 [INFO] Digitized sonar frames: 76% (815/1059)
2026-09-10 03:53:54 [INFO] Digitized sonar frames: 90% (957/1059)
2026-09-10 03:53:55 [INFO] Digitized 1059 snapshot scans
2026-09-10 03:53:55 [INFO] Applying sonar temporal consistency...
2026-09-10 03:53:56 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-10 03:53:57 [INFO] Temporal gap fill: 78% (833/1059)
2026-09-10 03:53:57 [INFO] Sonar temporal gap fill (window 2): 188409 points, 2626 candidate beams, filled 864
2026-09-10 03:53:58 [INFO] Sonar temporal radial outliers: removed 14 of 189273 points
2026-09-10 03:53:58 [INFO] Sonar temporal segment pruning (window 3): removed 7 segments, 61 points
2026-09-10 03:53:58 [INFO] Writing sonar track file...
2026-09-10 03:53:58 [INFO] Writing sonar PTD files...
2026-09-10 03:53:58 [INFO] Sonicer took 13.88398571s