+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/74839352-db22-4b13-8354-d46e1614eb48/processing/data/sonar_raw.track.cbor
2026-10-02 06:12:31 [INFO] Sonicer 0.0.3
2026-10-02 06:12:32 [INFO] Recording GUID: 74839352-db22-4b13-8354-d46e1614eb48
2026-10-02 06:12:32 [INFO] Prepared data will be output to /working/74839352-db22-4b13-8354-d46e1614eb48/processing/data
2026-10-02 06:12:32 [INFO] Digitizing sonar data...
2026-10-02 06:12:32 [INFO] Using sonar digitizer
2026-10-02 06:12:32 [INFO] Sensor speed of sound is 1500 m/s
2026-10-02 06:12:32 [INFO] Sensor range is 3.048000 m
2026-10-02 06:12:32 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-10-02 06:12:32 [INFO] Scaled micrometres per sample is 3796.001136
2026-10-02 06:12:33 [INFO] Digitized sonar frames: 25% (124/494)
2026-10-02 06:12:34 [INFO] Digitized sonar frames: 53% (262/494)
2026-10-02 06:12:35 [INFO] Digitized sonar frames: 81% (403/494)
2026-10-02 06:12:35 [INFO] Digitized 494 snapshot scans
2026-10-02 06:12:35 [INFO] Applying sonar temporal consistency...
2026-10-02 06:12:36 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-10-02 06:12:36 [INFO] Sonar temporal gap fill (window 2): 103112 points, 1331 candidate beams, filled 266
2026-10-02 06:12:37 [INFO] Sonar temporal radial outliers: removed 2 of 103378 points
2026-10-02 06:12:37 [INFO] Sonar temporal segment pruning (window 3): removed 6 segments, 75 points
2026-10-02 06:12:37 [INFO] Writing sonar track file...
2026-10-02 06:12:37 [INFO] Writing sonar PTD files...
2026-10-02 06:12:37 [INFO] Sonicer took 6.350052574s