+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/11273800-fcd2-43ba-9a89-b8368716a795/processing/data/sonar_raw.track.cbor
2026-09-10 05:12:42 [INFO] Sonicer 0.0.3
2026-09-10 05:12:43 [INFO] Recording GUID: 11273800-fcd2-43ba-9a89-b8368716a795
2026-09-10 05:12:43 [INFO] Prepared data will be output to /working/11273800-fcd2-43ba-9a89-b8368716a795/processing/data
2026-09-10 05:12:43 [INFO] Digitizing sonar data...
2026-09-10 05:12:43 [INFO] Using sonar digitizer
2026-09-10 05:12:43 [INFO] Sensor speed of sound is 1500 m/s
2026-09-10 05:12:43 [INFO] Sensor range is 2.100000 m
2026-09-10 05:12:43 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-10 05:12:43 [INFO] Scaled micrometres per sample is 2615.354911
2026-09-10 05:12:44 [INFO] Digitized sonar frames: 48% (114/233)
2026-09-10 05:12:44 [INFO] Digitized 233 snapshot scans
2026-09-10 05:12:44 [INFO] Applying sonar temporal consistency...
2026-09-10 05:12:45 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 7 structures, 146 points
2026-09-10 05:12:45 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-10 05:12:45 [INFO] Sonar temporal gap fill (window 2): 36152 points, 1893 candidate beams, filled 857
2026-09-10 05:12:45 [INFO] Sonar temporal radial outliers: removed 173 of 37009 points
2026-09-10 05:12:45 [INFO] Sonar temporal segment pruning (window 3): removed 22 segments, 438 points
2026-09-10 05:12:45 [INFO] Writing sonar track file...
2026-09-10 05:12:45 [INFO] Writing sonar PTD files...
2026-09-10 05:12:45 [INFO] Sonicer took 3.386992777s