+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/2f5d190e-cccf-4a48-b248-e67b11f9a002/processing/data/sonar_raw.track.cbor
2026-10-02 05:38:58 [INFO] Sonicer 0.0.3
2026-10-02 05:38:58 [INFO] Recording GUID: 2f5d190e-cccf-4a48-b248-e67b11f9a002
2026-10-02 05:38:58 [INFO] Prepared data will be output to /working/2f5d190e-cccf-4a48-b248-e67b11f9a002/processing/data
2026-10-02 05:38:58 [INFO] Digitizing sonar data...
2026-10-02 05:38:58 [INFO] Using sonar digitizer
2026-10-02 05:38:58 [INFO] Sensor speed of sound is 1500 m/s
2026-10-02 05:38:58 [INFO] Sensor range is 3.048000 m
2026-10-02 05:38:58 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-10-02 05:38:58 [INFO] Scaled micrometres per sample is 3796.001136
2026-10-02 05:38:59 [INFO] Digitized 67 snapshot scans
2026-10-02 05:38:59 [INFO] Applying sonar temporal consistency...
2026-10-02 05:38:59 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-10-02 05:38:59 [INFO] Sonar temporal gap fill (window 2): 12068 points, 214 candidate beams, filled 48
2026-10-02 05:38:59 [INFO] Sonar temporal radial outliers: removed 0 of 12116 points
2026-10-02 05:38:59 [INFO] Sonar temporal segment pruning (window 3): removed 3 segments, 40 points
2026-10-02 05:38:59 [INFO] Writing sonar track file...
2026-10-02 05:38:59 [INFO] Writing sonar PTD files...
2026-10-02 05:38:59 [INFO] Sonicer took 1.258559147s