+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/999ba04f-bc86-438c-9dfe-66d678bdec10/processing/data/sonar_raw.track.cbor
2026-09-24 18:56:28 [INFO] Sonicer 0.0.3
2026-09-24 18:56:28 [INFO] Recording GUID: 999ba04f-bc86-438c-9dfe-66d678bdec10
2026-09-24 18:56:28 [INFO] Prepared data will be output to /working/999ba04f-bc86-438c-9dfe-66d678bdec10/processing/data
2026-09-24 18:56:28 [INFO] Digitizing sonar data...
2026-09-24 18:56:28 [INFO] Using sonar digitizer
2026-09-24 18:56:28 [INFO] Sensor speed of sound is 1500 m/s
2026-09-24 18:56:28 [INFO] Sensor range is 2.100000 m
2026-09-24 18:56:28 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-24 18:56:28 [INFO] Scaled micrometres per sample is 2615.354911
2026-09-24 18:56:29 [INFO] Digitized sonar frames: 58% (109/187)
2026-09-24 18:56:30 [INFO] Digitized 187 snapshot scans
2026-09-24 18:56:30 [INFO] Applying sonar temporal consistency...
2026-09-24 18:56:30 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-24 18:56:30 [INFO] Sonar temporal gap fill (window 2): 30843 points, 592 candidate beams, filled 364
2026-09-24 18:56:30 [INFO] Sonar temporal radial outliers: removed 1 of 31207 points
2026-09-24 18:56:30 [INFO] Sonar temporal segment pruning (window 3): removed 0 segments, 0 points
2026-09-24 18:56:30 [INFO] Writing sonar track file...
2026-09-24 18:56:30 [INFO] Writing sonar PTD files...
2026-09-24 18:56:31 [INFO] Sonicer took 2.528646491s