+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/79aa1111-e3d9-4bb0-ac7b-251745de0001/processing/data/sonar_raw.track.cbor
2026-09-15 18:22:01 [INFO] Sonicer 0.0.3
2026-09-15 18:22:07 [INFO] Recording GUID: 79aa1111-e3d9-4bb0-ac7b-251745de0001
2026-09-15 18:22:07 [INFO] Prepared data will be output to /working/79aa1111-e3d9-4bb0-ac7b-251745de0001/processing/data
2026-09-15 18:22:07 [INFO] Digitizing sonar data...
2026-09-15 18:22:07 [INFO] Using sonar digitizer
2026-09-15 18:22:07 [INFO] Sensor speed of sound is 1500 m/s
2026-09-15 18:22:07 [INFO] Sensor range is 2.100000 m
2026-09-15 18:22:07 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-15 18:22:07 [INFO] Scaled micrometres per sample is 2615.354911
2026-09-15 18:22:10 [INFO] Digitized sonar frames: 10% (243/2429)
2026-09-15 18:22:12 [INFO] Digitized sonar frames: 20% (486/2429)
2026-09-15 18:22:14 [INFO] Digitized sonar frames: 30% (729/2429)
2026-09-15 18:22:16 [INFO] Digitized sonar frames: 40% (972/2429)
2026-09-15 18:22:19 [INFO] Digitized sonar frames: 50% (1215/2429)
2026-09-15 18:22:21 [INFO] Digitized sonar frames: 60% (1458/2429)
2026-09-15 18:22:23 [INFO] Digitized sonar frames: 70% (1701/2429)
2026-09-15 18:22:25 [INFO] Digitized sonar frames: 80% (1944/2429)
2026-09-15 18:22:28 [INFO] Digitized sonar frames: 90% (2187/2429)
2026-09-15 18:22:30 [INFO] Digitized sonar frames: 100% (2429/2429)
2026-09-15 18:22:30 [INFO] Digitized 2429 snapshot scans
2026-09-15 18:22:30 [INFO] Applying sonar temporal consistency...
2026-09-15 18:22:33 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-15 18:22:34 [INFO] Temporal gap fill: 33% (820/2429)
2026-09-15 18:22:35 [INFO] Temporal gap fill: 68% (1669/2429)
2026-09-15 18:22:36 [INFO] Sonar temporal gap fill (window 2): 414555 points, 6530 candidate beams, filled 2813
2026-09-15 18:22:36 [INFO] Sonar temporal radial outliers: removed 80 of 417368 points
2026-09-15 18:22:36 [INFO] Sonar temporal segment pruning (window 3): removed 15 segments, 384 points
2026-09-15 18:22:36 [INFO] Writing sonar track file...
2026-09-15 18:22:36 [INFO] Writing sonar PTD files...
2026-09-15 18:22:38 [INFO] Sonicer took 36.1160874s