+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/7ce822c6-814c-4a4f-be5e-ec901f4ddba8/processing/data/sonar_raw.track.cbor
2026-09-16 21:02:48 [INFO] Sonicer 0.0.3
2026-09-16 21:02:50 [INFO] Recording GUID: 7ce822c6-814c-4a4f-be5e-ec901f4ddba8
2026-09-16 21:02:50 [INFO] Prepared data will be output to /working/7ce822c6-814c-4a4f-be5e-ec901f4ddba8/processing/data
2026-09-16 21:02:50 [INFO] Digitizing sonar data...
2026-09-16 21:02:50 [INFO] Using sonar digitizer
2026-09-16 21:02:50 [INFO] Sensor speed of sound is 1500 m/s
2026-09-16 21:02:50 [INFO] Sensor range is 2.100000 m
2026-09-16 21:02:50 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-16 21:02:50 [INFO] Scaled micrometres per sample is 2615.354911
2026-09-16 21:02:51 [INFO] Digitized sonar frames: 17% (121/674)
2026-09-16 21:02:52 [INFO] Digitized sonar frames: 38% (260/674)
2026-09-16 21:02:53 [INFO] Digitized sonar frames: 60% (406/674)
2026-09-16 21:02:54 [INFO] Digitized sonar frames: 81% (552/674)
2026-09-16 21:02:54 [INFO] Digitized 674 snapshot scans
2026-09-16 21:02:54 [INFO] Applying sonar temporal consistency...
2026-09-16 21:02:55 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-16 21:02:56 [INFO] Sonar temporal gap fill (window 2): 109768 points, 1432 candidate beams, filled 651
2026-09-16 21:02:56 [INFO] Sonar temporal radial outliers: removed 5 of 110419 points
2026-09-16 21:02:56 [INFO] Sonar temporal segment pruning (window 3): removed 2 segments, 39 points
2026-09-16 21:02:56 [INFO] Writing sonar track file...
2026-09-16 21:02:56 [INFO] Writing sonar PTD files...
2026-09-16 21:02:57 [INFO] Sonicer took 8.502809233s