+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/61c8a180-d15f-4b3a-a76e-886bcfc1aec6/processing/data/sonar_raw.track.cbor
2026-09-24 06:32:12 [INFO] Sonicer 0.0.3
2026-09-24 06:32:13 [INFO] Recording GUID: 61c8a180-d15f-4b3a-a76e-886bcfc1aec6
2026-09-24 06:32:13 [INFO] Prepared data will be output to /working/61c8a180-d15f-4b3a-a76e-886bcfc1aec6/processing/data
2026-09-24 06:32:13 [INFO] Digitizing sonar data...
2026-09-24 06:32:13 [INFO] Using sonar digitizer
2026-09-24 06:32:13 [INFO] Sensor speed of sound is 1500 m/s
2026-09-24 06:32:13 [INFO] Sensor range is 2.100000 m
2026-09-24 06:32:13 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-24 06:32:13 [INFO] Scaled micrometres per sample is 2615.354911
2026-09-24 06:32:14 [INFO] Digitized sonar frames: 21% (119/560)
2026-09-24 06:32:15 [INFO] Digitized sonar frames: 44% (249/560)
2026-09-24 06:32:16 [INFO] Digitized sonar frames: 68% (386/560)
2026-09-24 06:32:17 [INFO] Digitized sonar frames: 90% (505/560)
2026-09-24 06:32:17 [INFO] Digitized 560 snapshot scans
2026-09-24 06:32:17 [INFO] Applying sonar temporal consistency...
2026-09-24 06:32:18 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 5 structures, 167 points
2026-09-24 06:32:19 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-24 06:32:19 [INFO] Sonar temporal gap fill (window 2): 85537 points, 1955 candidate beams, filled 957
2026-09-24 06:32:20 [INFO] Sonar temporal radial outliers: removed 159 of 86494 points
2026-09-24 06:32:20 [INFO] Sonar temporal segment pruning (window 3): removed 29 segments, 514 points
2026-09-24 06:32:20 [INFO] Writing sonar track file...
2026-09-24 06:32:20 [INFO] Writing sonar PTD files...
2026-09-24 06:32:20 [INFO] Sonicer took 8.157239627s