+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/8182c4cf-4657-43b0-8854-72efdb474f5a/processing/data/sonar_raw.track.cbor
2026-09-29 08:32:39 [INFO] Sonicer 0.0.3
2026-09-29 08:32:44 [INFO] Recording GUID: 8182c4cf-4657-43b0-8854-72efdb474f5a
2026-09-29 08:32:44 [INFO] Prepared data will be output to /working/8182c4cf-4657-43b0-8854-72efdb474f5a/processing/data
2026-09-29 08:32:44 [INFO] Digitizing sonar data...
2026-09-29 08:32:44 [INFO] Using sonar digitizer
2026-09-29 08:32:44 [INFO] Sensor speed of sound is 1500 m/s
2026-09-29 08:32:44 [INFO] Sensor range is 3.000000 m
2026-09-29 08:32:44 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-29 08:32:44 [INFO] Scaled micrometres per sample is 3736.221472
2026-09-29 08:32:46 [INFO] Digitized sonar frames: 10% (202/2020)
2026-09-29 08:32:47 [INFO] Digitized sonar frames: 20% (404/2020)
2026-09-29 08:32:48 [INFO] Digitized sonar frames: 30% (606/2020)
2026-09-29 08:32:50 [INFO] Digitized sonar frames: 40% (808/2020)
2026-09-29 08:32:51 [INFO] Digitized sonar frames: 50% (1010/2020)
2026-09-29 08:32:52 [INFO] Digitized sonar frames: 60% (1212/2020)
2026-09-29 08:32:54 [INFO] Digitized sonar frames: 70% (1414/2020)
2026-09-29 08:32:55 [INFO] Digitized sonar frames: 80% (1616/2020)
2026-09-29 08:32:56 [INFO] Digitized sonar frames: 90% (1818/2020)
2026-09-29 08:32:58 [INFO] Digitized sonar frames: 100% (2020/2020)
2026-09-29 08:32:58 [INFO] Digitized 2020 snapshot scans
2026-09-29 08:32:58 [INFO] Applying sonar temporal consistency...
2026-09-29 08:33:00 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-29 08:33:01 [INFO] Temporal gap fill: 41% (840/2020)
2026-09-29 08:33:02 [INFO] Temporal gap fill: 83% (1682/2020)
2026-09-29 08:33:02 [INFO] Sonar temporal gap fill (window 2): 303630 points, 23452 candidate beams, filled 18280
2026-09-29 08:33:03 [INFO] Sonar temporal radial outliers: removed 189 of 321910 points
2026-09-29 08:33:03 [INFO] Sonar temporal segment pruning (window 3): removed 60 segments, 1129 points
2026-09-29 08:33:03 [INFO] Writing sonar track file...
2026-09-29 08:33:03 [INFO] Writing sonar PTD files...
2026-09-29 08:33:04 [INFO] Sonicer took 25.058627929s