+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/e36e6bab-e09d-499a-ac98-32247f293872/processing/data/sonar_raw.track.cbor
2026-09-16 21:00:51 [INFO] Sonicer 0.0.3
2026-09-16 21:00:54 [INFO] Recording GUID: e36e6bab-e09d-499a-ac98-32247f293872
2026-09-16 21:00:54 [INFO] Prepared data will be output to /working/e36e6bab-e09d-499a-ac98-32247f293872/processing/data
2026-09-16 21:00:54 [INFO] Digitizing sonar data...
2026-09-16 21:00:54 [INFO] Using sonar digitizer
2026-09-16 21:00:54 [INFO] Sensor speed of sound is 1500 m/s
2026-09-16 21:00:54 [INFO] Sensor range is 2.100000 m
2026-09-16 21:00:54 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-16 21:00:54 [INFO] Scaled micrometres per sample is 2615.354911
2026-09-16 21:00:55 [INFO] Digitized sonar frames: 10% (114/1136)
2026-09-16 21:00:56 [INFO] Digitized sonar frames: 20% (233/1136)
2026-09-16 21:00:57 [INFO] Digitized sonar frames: 31% (360/1136)
2026-09-16 21:00:58 [INFO] Digitized sonar frames: 42% (488/1136)
2026-09-16 21:00:59 [INFO] Digitized sonar frames: 54% (620/1136)
2026-09-16 21:01:00 [INFO] Digitized sonar frames: 65% (743/1136)
2026-09-16 21:01:01 [INFO] Digitized sonar frames: 76% (867/1136)
2026-09-16 21:01:02 [INFO] Digitized sonar frames: 87% (993/1136)
2026-09-16 21:01:03 [INFO] Digitized sonar frames: 98% (1117/1136)
2026-09-16 21:01:03 [INFO] Digitized 1136 snapshot scans
2026-09-16 21:01:03 [INFO] Applying sonar temporal consistency...
2026-09-16 21:01:04 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-16 21:01:05 [INFO] Temporal gap fill: 72% (820/1136)
2026-09-16 21:01:06 [INFO] Sonar temporal gap fill (window 2): 201442 points, 5237 candidate beams, filled 3221
2026-09-16 21:01:06 [INFO] Sonar temporal radial outliers: removed 56 of 204663 points
2026-09-16 21:01:06 [INFO] Sonar temporal segment pruning (window 3): removed 2 segments, 16 points
2026-09-16 21:01:06 [INFO] Writing sonar track file...
2026-09-16 21:01:06 [INFO] Writing sonar PTD files...
2026-09-16 21:01:07 [INFO] Sonicer took 15.700128152s