+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/bf93c59f-27bf-49ef-9b80-e53a775838a6/processing/data/sonar_raw.track.cbor
2026-09-24 06:52:10 [INFO] Sonicer 0.0.3
2026-09-24 06:52:12 [INFO] Recording GUID: bf93c59f-27bf-49ef-9b80-e53a775838a6
2026-09-24 06:52:12 [INFO] Prepared data will be output to /working/bf93c59f-27bf-49ef-9b80-e53a775838a6/processing/data
2026-09-24 06:52:12 [INFO] Digitizing sonar data...
2026-09-24 06:52:12 [INFO] Using sonar digitizer
2026-09-24 06:52:12 [INFO] Sensor speed of sound is 1500 m/s
2026-09-24 06:52:12 [INFO] Sensor range is 2.100000 m
2026-09-24 06:52:12 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-24 06:52:12 [INFO] Scaled micrometres per sample is 2615.354911
2026-09-24 06:52:13 [INFO] Digitized sonar frames: 10% (69/657)
2026-09-24 06:52:14 [INFO] Digitized sonar frames: 25% (169/657)
2026-09-24 06:52:15 [INFO] Digitized sonar frames: 38% (255/657)
2026-09-24 06:52:16 [INFO] Digitized sonar frames: 52% (348/657)
2026-09-24 06:52:17 [INFO] Digitized sonar frames: 66% (439/657)
2026-09-24 06:52:18 [INFO] Digitized sonar frames: 80% (529/657)
2026-09-24 06:52:19 [INFO] Digitized sonar frames: 94% (621/657)
2026-09-24 06:52:19 [INFO] Digitized 657 snapshot scans
2026-09-24 06:52:19 [INFO] Applying sonar temporal consistency...
2026-09-24 06:52:20 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 12 structures, 377 points
2026-09-24 06:52:21 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-24 06:52:22 [INFO] Sonar temporal gap fill (window 2): 106955 points, 3048 candidate beams, filled 2208
2026-09-24 06:52:22 [INFO] Sonar temporal radial outliers: removed 141 of 109163 points
2026-09-24 06:52:22 [INFO] Sonar temporal segment pruning (window 3): removed 24 segments, 657 points
2026-09-24 06:52:22 [INFO] Writing sonar track file...
2026-09-24 06:52:22 [INFO] Writing sonar PTD files...
2026-09-24 06:52:22 [INFO] Sonicer took 11.674041688s