+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/32e451ca-106b-44ee-ab9b-3e89fd92daa8/processing/data/sonar_raw.track.cbor
2026-09-24 12:24:18 [INFO] Sonicer 0.0.3
2026-09-24 12:24:24 [INFO] Recording GUID: 32e451ca-106b-44ee-ab9b-3e89fd92daa8
2026-09-24 12:24:24 [INFO] Prepared data will be output to /working/32e451ca-106b-44ee-ab9b-3e89fd92daa8/processing/data
2026-09-24 12:24:24 [INFO] Digitizing sonar data...
2026-09-24 12:24:24 [INFO] Using sonar digitizer
2026-09-24 12:24:24 [INFO] Sensor speed of sound is 1500 m/s
2026-09-24 12:24:24 [INFO] Sensor range is 3.500000 m
2026-09-24 12:24:24 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-24 12:24:24 [INFO] Scaled micrometres per sample is 4358.925050
2026-09-24 12:24:26 [INFO] Digitized sonar frames: 10% (276/2751)
2026-09-24 12:24:28 [INFO] Digitized sonar frames: 20% (551/2751)
2026-09-24 12:24:30 [INFO] Digitized sonar frames: 30% (826/2751)
2026-09-24 12:24:32 [INFO] Digitized sonar frames: 40% (1101/2751)
2026-09-24 12:24:34 [INFO] Digitized sonar frames: 50% (1376/2751)
2026-09-24 12:24:36 [INFO] Digitized sonar frames: 60% (1651/2751)
2026-09-24 12:24:38 [INFO] Digitized sonar frames: 70% (1926/2751)
2026-09-24 12:24:39 [INFO] Digitized sonar frames: 80% (2201/2751)
2026-09-24 12:24:41 [INFO] Digitized sonar frames: 90% (2476/2751)
2026-09-24 12:24:43 [INFO] Digitized sonar frames: 100% (2751/2751)
2026-09-24 12:24:43 [INFO] Digitized 2751 snapshot scans
2026-09-24 12:24:43 [INFO] Applying sonar temporal consistency...
2026-09-24 12:24:46 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 6 structures, 88 points
2026-09-24 12:24:49 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-24 12:24:51 [INFO] Temporal gap fill: 31% (856/2751)
2026-09-24 12:24:52 [INFO] Temporal gap fill: 62% (1708/2751)
2026-09-24 12:24:53 [INFO] Temporal gap fill: 93% (2559/2751)
2026-09-24 12:24:53 [INFO] Sonar temporal gap fill (window 2): 438292 points, 2382 candidate beams, filled 803
2026-09-24 12:24:53 [INFO] Sonar temporal radial outliers: removed 204 of 439095 points
2026-09-24 12:24:53 [INFO] Sonar temporal segment pruning (window 3): removed 16 segments, 168 points
2026-09-24 12:24:53 [INFO] Writing sonar track file...
2026-09-24 12:24:53 [INFO] Writing sonar PTD files...
2026-09-24 12:24:55 [INFO] Sonicer took 36.646128677s