+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/3141aa07-0bde-4b48-b60b-10b67521cb36/processing/data/sonar_raw.track.cbor
2026-09-24 19:03:00 [INFO] Sonicer 0.0.3
2026-09-24 19:03:01 [INFO] Recording GUID: 3141aa07-0bde-4b48-b60b-10b67521cb36
2026-09-24 19:03:01 [INFO] Prepared data will be output to /working/3141aa07-0bde-4b48-b60b-10b67521cb36/processing/data
2026-09-24 19:03:01 [INFO] Digitizing sonar data...
2026-09-24 19:03:01 [INFO] Using sonar digitizer
2026-09-24 19:03:01 [INFO] Sensor speed of sound is 1500 m/s
2026-09-24 19:03:01 [INFO] Sensor range is 2.100000 m
2026-09-24 19:03:01 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-24 19:03:01 [INFO] Scaled micrometres per sample is 2615.354911
2026-09-24 19:03:02 [INFO] Digitized sonar frames: 28% (99/351)
2026-09-24 19:03:03 [INFO] Digitized sonar frames: 62% (221/351)
2026-09-24 19:03:04 [INFO] Digitized 351 snapshot scans
2026-09-24 19:03:04 [INFO] Applying sonar temporal consistency...
2026-09-24 19:03:04 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-24 19:03:05 [INFO] Sonar temporal gap fill (window 2): 61610 points, 1873 candidate beams, filled 1274
2026-09-24 19:03:05 [INFO] Sonar temporal radial outliers: removed 16 of 62884 points
2026-09-24 19:03:05 [INFO] Sonar temporal segment pruning (window 3): removed 4 segments, 33 points
2026-09-24 19:03:05 [INFO] Writing sonar track file...
2026-09-24 19:03:05 [INFO] Writing sonar PTD files...
2026-09-24 19:03:05 [INFO] Sonicer took 4.867523517s