+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/c25c745b-27eb-4d15-8486-e0e515b02da3/processing/data/sonar_raw.track.cbor
2026-09-10 06:43:43 [INFO] Sonicer 0.0.3
2026-09-10 06:43:46 [INFO] Recording GUID: c25c745b-27eb-4d15-8486-e0e515b02da3
2026-09-10 06:43:46 [INFO] Prepared data will be output to /working/c25c745b-27eb-4d15-8486-e0e515b02da3/processing/data
2026-09-10 06:43:46 [INFO] Digitizing sonar data...
2026-09-10 06:43:46 [INFO] Using sonar digitizer
2026-09-10 06:43:46 [INFO] Sensor speed of sound is 1500 m/s
2026-09-10 06:43:46 [INFO] Sensor range is 2.100000 m
2026-09-10 06:43:46 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-10 06:43:46 [INFO] Scaled micrometres per sample is 2615.354911
2026-09-10 06:43:47 [INFO] Digitized sonar frames: 10% (138/1374)
2026-09-10 06:43:48 [INFO] Digitized sonar frames: 20% (275/1374)
2026-09-10 06:43:49 [INFO] Digitized sonar frames: 30% (413/1374)
2026-09-10 06:43:50 [INFO] Digitized sonar frames: 40% (550/1374)
2026-09-10 06:43:52 [INFO] Digitized sonar frames: 50% (687/1374)
2026-09-10 06:43:53 [INFO] Digitized sonar frames: 60% (825/1374)
2026-09-10 06:43:54 [INFO] Digitized sonar frames: 70% (962/1374)
2026-09-10 06:43:55 [INFO] Digitized sonar frames: 80% (1100/1374)
2026-09-10 06:43:56 [INFO] Digitized sonar frames: 90% (1237/1374)
2026-09-10 06:43:57 [INFO] Digitized sonar frames: 100% (1374/1374)
2026-09-10 06:43:57 [INFO] Digitized 1374 snapshot scans
2026-09-10 06:43:57 [INFO] Applying sonar temporal consistency...
2026-09-10 06:43:59 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 2 structures, 21 points
2026-09-10 06:44:00 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-10 06:44:01 [INFO] Temporal gap fill: 62% (854/1374)
2026-09-10 06:44:02 [INFO] Sonar temporal gap fill (window 2): 231472 points, 2389 candidate beams, filled 898
2026-09-10 06:44:02 [INFO] Sonar temporal radial outliers: removed 24 of 232370 points
2026-09-10 06:44:02 [INFO] Sonar temporal segment pruning (window 3): removed 4 segments, 66 points
2026-09-10 06:44:02 [INFO] Writing sonar track file...
2026-09-10 06:44:02 [INFO] Writing sonar PTD files...
2026-09-10 06:44:03 [INFO] Sonicer took 20.351520515s