+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/cf3633bb-4319-48e6-a195-9cfd55a72198/processing/data/sonar_raw.track.cbor
2026-09-10 05:45:17 [INFO] Sonicer 0.0.3
2026-09-10 05:45:19 [INFO] Recording GUID: cf3633bb-4319-48e6-a195-9cfd55a72198
2026-09-10 05:45:19 [INFO] Prepared data will be output to /working/cf3633bb-4319-48e6-a195-9cfd55a72198/processing/data
2026-09-10 05:45:19 [INFO] Digitizing sonar data...
2026-09-10 05:45:19 [INFO] Using sonar digitizer
2026-09-10 05:45:19 [INFO] Sensor speed of sound is 1500 m/s
2026-09-10 05:45:19 [INFO] Sensor range is 2.100000 m
2026-09-10 05:45:19 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-10 05:45:19 [INFO] Scaled micrometres per sample is 2615.354911
2026-09-10 05:45:20 [INFO] Digitized sonar frames: 17% (83/472)
2026-09-10 05:45:21 [INFO] Digitized sonar frames: 41% (196/472)
2026-09-10 05:45:22 [INFO] Digitized sonar frames: 66% (312/472)
2026-09-10 05:45:23 [INFO] Digitized sonar frames: 88% (416/472)
2026-09-10 05:45:23 [INFO] Digitized 472 snapshot scans
2026-09-10 05:45:23 [INFO] Applying sonar temporal consistency...
2026-09-10 05:45:24 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-10 05:45:24 [INFO] Sonar temporal gap fill (window 2): 78008 points, 1382 candidate beams, filled 656
2026-09-10 05:45:24 [INFO] Sonar temporal radial outliers: removed 9 of 78664 points
2026-09-10 05:45:24 [INFO] Sonar temporal segment pruning (window 3): removed 1 segments, 20 points
2026-09-10 05:45:24 [INFO] Writing sonar track file...
2026-09-10 05:45:24 [INFO] Writing sonar PTD files...
2026-09-10 05:45:25 [INFO] Sonicer took 7.093437198s