+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/7ae021bb-bbd1-4800-97eb-4863a0eb229e/processing/data/sonar_raw.track.cbor
2026-09-10 04:57:09 [INFO] Sonicer 0.0.3
2026-09-10 04:57:09 [INFO] Recording GUID: 7ae021bb-bbd1-4800-97eb-4863a0eb229e
2026-09-10 04:57:09 [INFO] Prepared data will be output to /working/7ae021bb-bbd1-4800-97eb-4863a0eb229e/processing/data
2026-09-10 04:57:09 [INFO] Digitizing sonar data...
2026-09-10 04:57:09 [INFO] Using sonar digitizer
2026-09-10 04:57:09 [INFO] Sensor speed of sound is 1500 m/s
2026-09-10 04:57:09 [INFO] Sensor range is 2.100000 m
2026-09-10 04:57:09 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-10 04:57:09 [INFO] Scaled micrometres per sample is 2615.354911
2026-09-10 04:57:09 [INFO] Digitized 62 snapshot scans
2026-09-10 04:57:09 [INFO] Applying sonar temporal consistency...
2026-09-10 04:57:09 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-10 04:57:10 [INFO] Sonar temporal gap fill (window 2): 8423 points, 395 candidate beams, filled 150
2026-09-10 04:57:10 [INFO] Sonar temporal radial outliers: removed 19 of 8573 points
2026-09-10 04:57:10 [INFO] Sonar temporal segment pruning (window 3): removed 6 segments, 119 points
2026-09-10 04:57:10 [INFO] Writing sonar track file...
2026-09-10 04:57:10 [INFO] Writing sonar PTD files...
2026-09-10 04:57:10 [INFO] Sonicer took 1.00330689s