+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/df1a0adc-bc53-4f2e-884b-e6e3b08752bf/processing/data/sonar_raw.track.cbor
2026-09-15 16:34:14 [INFO] Sonicer 0.0.3
2026-09-15 16:34:16 [INFO] Recording GUID: df1a0adc-bc53-4f2e-884b-e6e3b08752bf
2026-09-15 16:34:16 [INFO] Prepared data will be output to /working/df1a0adc-bc53-4f2e-884b-e6e3b08752bf/processing/data
2026-09-15 16:34:16 [INFO] Digitizing sonar data...
2026-09-15 16:34:16 [INFO] Using sonar digitizer
2026-09-15 16:34:16 [INFO] Sensor speed of sound is 1500 m/s
2026-09-15 16:34:16 [INFO] Sensor range is 2.100000 m
2026-09-15 16:34:16 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-15 16:34:16 [INFO] Scaled micrometres per sample is 2615.354911
2026-09-15 16:34:17 [INFO] Digitized sonar frames: 16% (127/791)
2026-09-15 16:34:18 [INFO] Digitized sonar frames: 35% (278/791)
2026-09-15 16:34:19 [INFO] Digitized sonar frames: 54% (431/791)
2026-09-15 16:34:20 [INFO] Digitized sonar frames: 73% (584/791)
2026-09-15 16:34:21 [INFO] Digitized sonar frames: 92% (735/791)
2026-09-15 16:34:21 [INFO] Digitized 791 snapshot scans
2026-09-15 16:34:21 [INFO] Applying sonar temporal consistency...
2026-09-15 16:34:22 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-15 16:34:23 [INFO] Sonar temporal gap fill (window 2): 142482 points, 4653 candidate beams, filled 2685
2026-09-15 16:34:23 [INFO] Sonar temporal radial outliers: removed 11 of 145167 points
2026-09-15 16:34:23 [INFO] Sonar temporal segment pruning (window 3): removed 1 segments, 20 points
2026-09-15 16:34:23 [INFO] Writing sonar track file...
2026-09-15 16:34:23 [INFO] Writing sonar PTD files...
2026-09-15 16:34:24 [INFO] Sonicer took 9.682889652s