+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/754ca2ba-477d-433f-9fef-8178c6bbfb52/processing/data/sonar_raw.track.cbor
2026-09-29 09:51:00 [INFO] Sonicer 0.0.3
2026-09-29 09:51:06 [INFO] Recording GUID: 754ca2ba-477d-433f-9fef-8178c6bbfb52
2026-09-29 09:51:06 [INFO] Prepared data will be output to /working/754ca2ba-477d-433f-9fef-8178c6bbfb52/processing/data
2026-09-29 09:51:06 [INFO] Digitizing sonar data...
2026-09-29 09:51:06 [INFO] Using sonar digitizer
2026-09-29 09:51:06 [INFO] Sensor speed of sound is 1500 m/s
2026-09-29 09:51:06 [INFO] Sensor range is 3.000000 m
2026-09-29 09:51:06 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-29 09:51:06 [INFO] Scaled micrometres per sample is 3736.221472
2026-09-29 09:51:08 [INFO] Digitized sonar frames: 10% (268/2679)
2026-09-29 09:51:10 [INFO] Digitized sonar frames: 20% (536/2679)
2026-09-29 09:51:12 [INFO] Digitized sonar frames: 30% (804/2679)
2026-09-29 09:51:13 [INFO] Digitized sonar frames: 40% (1072/2679)
2026-09-29 09:51:15 [INFO] Digitized sonar frames: 50% (1340/2679)
2026-09-29 09:51:16 [INFO] Digitized sonar frames: 60% (1608/2679)
2026-09-29 09:51:18 [INFO] Digitized sonar frames: 70% (1876/2679)
2026-09-29 09:51:20 [INFO] Digitized sonar frames: 80% (2144/2679)
2026-09-29 09:51:21 [INFO] Digitized sonar frames: 90% (2412/2679)
2026-09-29 09:51:23 [INFO] Digitized sonar frames: 100% (2679/2679)
2026-09-29 09:51:23 [INFO] Digitized 2679 snapshot scans
2026-09-29 09:51:23 [INFO] Applying sonar temporal consistency...
2026-09-29 09:51:25 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 2 structures, 32 points
2026-09-29 09:51:28 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-29 09:51:29 [INFO] Temporal gap fill: 32% (859/2679)
2026-09-29 09:51:30 [INFO] Temporal gap fill: 64% (1723/2679)
2026-09-29 09:51:31 [INFO] Temporal gap fill: 97% (2600/2679)
2026-09-29 09:51:31 [INFO] Sonar temporal gap fill (window 2): 257490 points, 41553 candidate beams, filled 35096
2026-09-29 09:51:31 [INFO] Sonar temporal radial outliers: removed 107 of 292586 points
2026-09-29 09:51:31 [INFO] Sonar temporal segment pruning (window 3): removed 33 segments, 596 points
2026-09-29 09:51:31 [INFO] Writing sonar track file...
2026-09-29 09:51:31 [INFO] Writing sonar PTD files...
2026-09-29 09:51:32 [INFO] Sonicer took 32.294933304s