+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/6dcbed11-6d69-459f-ab03-dc6521747d62/processing/data/sonar_raw.track.cbor
2026-09-22 02:14:53 [INFO] Sonicer 0.0.3
2026-09-22 02:14:53 [INFO] Recording GUID: 6dcbed11-6d69-459f-ab03-dc6521747d62
2026-09-22 02:14:53 [INFO] Prepared data will be output to /working/6dcbed11-6d69-459f-ab03-dc6521747d62/processing/data
2026-09-22 02:14:53 [INFO] Digitizing sonar data...
2026-09-22 02:14:53 [INFO] Using sonar digitizer
2026-09-22 02:14:53 [INFO] Sensor speed of sound is 1500 m/s
2026-09-22 02:14:53 [INFO] Sensor range is 2.100000 m
2026-09-22 02:14:53 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-22 02:14:53 [INFO] Scaled micrometres per sample is 2615.354911
2026-09-22 02:14:54 [INFO] Digitized sonar frames: 29% (107/364)
2026-09-22 02:14:55 [INFO] Digitized sonar frames: 70% (256/364)
2026-09-22 02:14:56 [INFO] Digitized 364 snapshot scans
2026-09-22 02:14:56 [INFO] Applying sonar temporal consistency...
2026-09-22 02:14:56 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-22 02:14:57 [INFO] Sonar temporal gap fill (window 2): 58477 points, 1095 candidate beams, filled 577
2026-09-22 02:14:57 [INFO] Sonar temporal radial outliers: removed 26 of 59054 points
2026-09-22 02:14:57 [INFO] Sonar temporal segment pruning (window 3): removed 10 segments, 217 points
2026-09-22 02:14:57 [INFO] Writing sonar track file...
2026-09-22 02:14:57 [INFO] Writing sonar PTD files...
2026-09-22 02:14:57 [INFO] Sonicer took 4.576616164s