+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/72c4f4b7-97ea-4ff3-ae43-ebdac9d7e672/processing/data/sonar_raw.track.cbor
2026-09-16 20:10:57 [INFO] Sonicer 0.0.3
2026-09-16 20:10:58 [INFO] Recording GUID: 72c4f4b7-97ea-4ff3-ae43-ebdac9d7e672
2026-09-16 20:10:58 [INFO] Prepared data will be output to /working/72c4f4b7-97ea-4ff3-ae43-ebdac9d7e672/processing/data
2026-09-16 20:10:58 [INFO] Digitizing sonar data...
2026-09-16 20:10:58 [INFO] Using sonar digitizer
2026-09-16 20:10:58 [INFO] Sensor speed of sound is 1500 m/s
2026-09-16 20:10:58 [INFO] Sensor range is 2.100000 m
2026-09-16 20:10:58 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-16 20:10:58 [INFO] Scaled micrometres per sample is 2615.354911
2026-09-16 20:10:59 [INFO] Digitized sonar frames: 46% (117/253)
2026-09-16 20:11:00 [INFO] Digitized 253 snapshot scans
2026-09-16 20:11:00 [INFO] Applying sonar temporal consistency...
2026-09-16 20:11:00 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-16 20:11:00 [INFO] Sonar temporal gap fill (window 2): 43691 points, 964 candidate beams, filled 416
2026-09-16 20:11:00 [INFO] Sonar temporal radial outliers: removed 10 of 44107 points
2026-09-16 20:11:00 [INFO] Sonar temporal segment pruning (window 3): removed 2 segments, 26 points
2026-09-16 20:11:00 [INFO] Writing sonar track file...
2026-09-16 20:11:00 [INFO] Writing sonar PTD files...
2026-09-16 20:11:00 [INFO] Sonicer took 3.342118108s