+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/1bb993a0-b93c-4aa5-8124-5a5908af378b/processing/data/sonar_raw.track.cbor
2026-09-29 08:38:23 [INFO] Sonicer 0.0.3
2026-09-29 08:38:28 [INFO] Recording GUID: 1bb993a0-b93c-4aa5-8124-5a5908af378b
2026-09-29 08:38:28 [INFO] Prepared data will be output to /working/1bb993a0-b93c-4aa5-8124-5a5908af378b/processing/data
2026-09-29 08:38:28 [INFO] Digitizing sonar data...
2026-09-29 08:38:28 [INFO] Using sonar digitizer
2026-09-29 08:38:28 [INFO] Sensor speed of sound is 1500 m/s
2026-09-29 08:38:28 [INFO] Sensor range is 3.000000 m
2026-09-29 08:38:28 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-29 08:38:28 [INFO] Scaled micrometres per sample is 3736.221472
2026-09-29 08:38:30 [INFO] Digitized sonar frames: 10% (252/2512)
2026-09-29 08:38:32 [INFO] Digitized sonar frames: 20% (503/2512)
2026-09-29 08:38:34 [INFO] Digitized sonar frames: 30% (754/2512)
2026-09-29 08:38:36 [INFO] Digitized sonar frames: 40% (1005/2512)
2026-09-29 08:38:38 [INFO] Digitized sonar frames: 50% (1256/2512)
2026-09-29 08:38:40 [INFO] Digitized sonar frames: 60% (1508/2512)
2026-09-29 08:38:41 [INFO] Digitized sonar frames: 70% (1759/2512)
2026-09-29 08:38:43 [INFO] Digitized sonar frames: 80% (2010/2512)
2026-09-29 08:38:46 [INFO] Digitized sonar frames: 90% (2261/2512)
2026-09-29 08:38:48 [INFO] Digitized sonar frames: 100% (2512/2512)
2026-09-29 08:38:48 [INFO] Digitized 2512 snapshot scans
2026-09-29 08:38:48 [INFO] Applying sonar temporal consistency...
2026-09-29 08:38:51 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-29 08:38:52 [INFO] Temporal gap fill: 33% (852/2512)
2026-09-29 08:38:53 [INFO] Temporal gap fill: 67% (1692/2512)
2026-09-29 08:38:54 [INFO] Sonar temporal gap fill (window 2): 382810 points, 21718 candidate beams, filled 16605
2026-09-29 08:38:54 [INFO] Sonar temporal radial outliers: removed 329 of 399415 points
2026-09-29 08:38:54 [INFO] Sonar temporal segment pruning (window 3): removed 34 segments, 549 points
2026-09-29 08:38:54 [INFO] Writing sonar track file...
2026-09-29 08:38:54 [INFO] Writing sonar PTD files...
2026-09-29 08:38:56 [INFO] Sonicer took 32.979887319s