+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/035f4c62-adef-46b1-830d-305987fb65a8/processing/data/sonar_raw.track.cbor
2026-09-29 04:34:36 [INFO] Sonicer 0.0.3
2026-09-29 04:34:36 [INFO] Recording GUID: 035f4c62-adef-46b1-830d-305987fb65a8
2026-09-29 04:34:36 [INFO] Prepared data will be output to /working/035f4c62-adef-46b1-830d-305987fb65a8/processing/data
2026-09-29 04:34:36 [INFO] Digitizing sonar data...
2026-09-29 04:34:36 [INFO] Using sonar digitizer
2026-09-29 04:34:36 [INFO] Sensor speed of sound is 1500 m/s
2026-09-29 04:34:36 [INFO] Sensor range is 2.100000 m
2026-09-29 04:34:36 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-29 04:34:36 [INFO] Scaled micrometres per sample is 2615.354911
2026-09-29 04:34:36 [INFO] Digitized 24 snapshot scans
2026-09-29 04:34:36 [INFO] Applying sonar temporal consistency...
2026-09-29 04:34:36 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-29 04:34:36 [INFO] Sonar temporal gap fill (window 2): 4058 points, 79 candidate beams, filled 41
2026-09-29 04:34:36 [INFO] Sonar temporal radial outliers: removed 3 of 4099 points
2026-09-29 04:34:36 [INFO] Sonar temporal segment pruning (window 3): removed 1 segments, 29 points
2026-09-29 04:34:36 [INFO] Writing sonar track file...
2026-09-29 04:34:36 [INFO] Writing sonar PTD files...
2026-09-29 04:34:36 [INFO] Sonicer took 397.138157ms