+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/84283bf0-e279-4586-a2c6-074052c145ce/processing/data/sonar_raw.track.cbor
2026-09-18 07:34:30 [INFO] Sonicer 0.0.3
2026-09-18 07:34:31 [INFO] Recording GUID: 84283bf0-e279-4586-a2c6-074052c145ce
2026-09-18 07:34:31 [INFO] Prepared data will be output to /working/84283bf0-e279-4586-a2c6-074052c145ce/processing/data
2026-09-18 07:34:31 [INFO] Digitizing sonar data...
2026-09-18 07:34:31 [INFO] Using sonar digitizer
2026-09-18 07:34:31 [INFO] Sensor speed of sound is 1500 m/s
2026-09-18 07:34:31 [INFO] Sensor range is 2.100000 m
2026-09-18 07:34:31 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-18 07:34:31 [INFO] Scaled micrometres per sample is 2615.354911
2026-09-18 07:34:32 [INFO] Digitized sonar frames: 26% (123/469)
2026-09-18 07:34:33 [INFO] Digitized sonar frames: 57% (268/469)
2026-09-18 07:34:34 [INFO] Digitized sonar frames: 87% (410/469)
2026-09-18 07:34:34 [INFO] Digitized 469 snapshot scans
2026-09-18 07:34:34 [INFO] Applying sonar temporal consistency...
2026-09-18 07:34:35 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-18 07:34:35 [INFO] Sonar temporal gap fill (window 2): 76288 points, 1000 candidate beams, filled 462
2026-09-18 07:34:35 [INFO] Sonar temporal radial outliers: removed 6 of 76750 points
2026-09-18 07:34:35 [INFO] Sonar temporal segment pruning (window 3): removed 2 segments, 67 points
2026-09-18 07:34:35 [INFO] Writing sonar track file...
2026-09-18 07:34:35 [INFO] Writing sonar PTD files...
2026-09-18 07:34:36 [INFO] Sonicer took 5.853485971s