+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/6376223f-eee8-41d6-be3d-0c5e2e05034e/processing/data/sonar_raw.track.cbor
2026-09-10 05:08:58 [INFO] Sonicer 0.0.3
2026-09-10 05:08:58 [INFO] Recording GUID: 6376223f-eee8-41d6-be3d-0c5e2e05034e
2026-09-10 05:08:58 [INFO] Prepared data will be output to /working/6376223f-eee8-41d6-be3d-0c5e2e05034e/processing/data
2026-09-10 05:08:58 [INFO] Digitizing sonar data...
2026-09-10 05:08:58 [INFO] Using sonar digitizer
2026-09-10 05:08:58 [INFO] Sensor speed of sound is 1500 m/s
2026-09-10 05:08:58 [INFO] Sensor range is 2.100000 m
2026-09-10 05:08:58 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-10 05:08:58 [INFO] Scaled micrometres per sample is 2615.354911
2026-09-10 05:08:59 [INFO] Digitized sonar frames: 31% (104/328)
2026-09-10 05:09:00 [INFO] Digitized sonar frames: 75% (248/328)
2026-09-10 05:09:01 [INFO] Digitized sonar frames: 97% (319/328)
2026-09-10 05:09:02 [INFO] Digitized 328 snapshot scans
2026-09-10 05:09:02 [INFO] Applying sonar temporal consistency...
2026-09-10 05:09:02 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-10 05:09:03 [INFO] Sonar temporal gap fill (window 2): 53738 points, 1480 candidate beams, filled 810
2026-09-10 05:09:03 [INFO] Sonar temporal radial outliers: removed 2 of 54548 points
2026-09-10 05:09:03 [INFO] Sonar temporal segment pruning (window 3): removed 0 segments, 0 points
2026-09-10 05:09:03 [INFO] Writing sonar track file...
2026-09-10 05:09:03 [INFO] Writing sonar PTD files...
2026-09-10 05:09:03 [INFO] Sonicer took 5.399719766s