+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/d453e8ec-50d7-4314-874b-583d045a3546/processing/data/sonar_raw.track.cbor
2026-10-02 05:53:49 [INFO] Sonicer 0.0.3
2026-10-02 05:53:50 [INFO] Recording GUID: d453e8ec-50d7-4314-874b-583d045a3546
2026-10-02 05:53:50 [INFO] Prepared data will be output to /working/d453e8ec-50d7-4314-874b-583d045a3546/processing/data
2026-10-02 05:53:50 [INFO] Digitizing sonar data...
2026-10-02 05:53:50 [INFO] Using sonar digitizer
2026-10-02 05:53:50 [INFO] Sensor speed of sound is 1500 m/s
2026-10-02 05:53:50 [INFO] Sensor range is 3.048000 m
2026-10-02 05:53:50 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-10-02 05:53:50 [INFO] Scaled micrometres per sample is 3796.001136
2026-10-02 05:53:51 [INFO] Digitized sonar frames: 26% (116/432)
2026-10-02 05:53:52 [INFO] Digitized sonar frames: 61% (266/432)
2026-10-02 05:53:53 [INFO] Digitized sonar frames: 94% (407/432)
2026-10-02 05:53:53 [INFO] Digitized 432 snapshot scans
2026-10-02 05:53:53 [INFO] Applying sonar temporal consistency...
2026-10-02 05:53:53 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-10-02 05:53:54 [INFO] Sonar temporal gap fill (window 2): 93899 points, 2216 candidate beams, filled 1193
2026-10-02 05:53:54 [INFO] Sonar temporal radial outliers: removed 14 of 95092 points
2026-10-02 05:53:54 [INFO] Sonar temporal segment pruning (window 3): removed 6 segments, 53 points
2026-10-02 05:53:54 [INFO] Writing sonar track file...
2026-10-02 05:53:54 [INFO] Writing sonar PTD files...
2026-10-02 05:53:54 [INFO] Sonicer took 5.726083209s