+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/9c248d51-6632-4696-8c75-723a5afdbfc2/processing/data/sonar_raw.track.cbor
2026-09-15 08:04:22 [INFO] Sonicer 0.0.3
2026-09-15 08:04:30 [INFO] Recording GUID: 9c248d51-6632-4696-8c75-723a5afdbfc2
2026-09-15 08:04:30 [INFO] Prepared data will be output to /working/9c248d51-6632-4696-8c75-723a5afdbfc2/processing/data
2026-09-15 08:04:30 [INFO] Digitizing sonar data...
2026-09-15 08:04:30 [INFO] Using sonar digitizer
2026-09-15 08:04:30 [INFO] Sensor speed of sound is 1500 m/s
2026-09-15 08:04:30 [INFO] Sensor range is 3.000000 m
2026-09-15 08:04:30 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-15 08:04:30 [INFO] Scaled micrometres per sample is 3736.221472
2026-09-15 08:04:32 [INFO] Digitized sonar frames: 10% (348/3477)
2026-09-15 08:04:35 [INFO] Digitized sonar frames: 20% (696/3477)
2026-09-15 08:04:37 [INFO] Digitized sonar frames: 30% (1044/3477)
2026-09-15 08:04:40 [INFO] Digitized sonar frames: 40% (1391/3477)
2026-09-15 08:04:42 [INFO] Digitized sonar frames: 50% (1739/3477)
2026-09-15 08:04:44 [INFO] Digitized sonar frames: 60% (2087/3477)
2026-09-15 08:04:47 [INFO] Digitized sonar frames: 70% (2434/3477)
2026-09-15 08:04:50 [INFO] Digitized sonar frames: 80% (2782/3477)
2026-09-15 08:04:52 [INFO] Digitized sonar frames: 90% (3130/3477)
2026-09-15 08:04:55 [INFO] Digitized sonar frames: 100% (3477/3477)
2026-09-15 08:04:55 [INFO] Digitized 3477 snapshot scans
2026-09-15 08:04:55 [INFO] Applying sonar temporal consistency...
2026-09-15 08:04:59 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-15 08:05:00 [INFO] Temporal gap fill: 24% (848/3477)
2026-09-15 08:05:01 [INFO] Temporal gap fill: 48% (1677/3477)
2026-09-15 08:05:02 [INFO] Temporal gap fill: 72% (2536/3477)
2026-09-15 08:05:03 [INFO] Temporal gap fill: 97% (3397/3477)
2026-09-15 08:05:03 [INFO] Sonar temporal gap fill (window 2): 548782 points, 2781 candidate beams, filled 1074
2026-09-15 08:05:03 [INFO] Sonar temporal radial outliers: removed 44 of 549856 points
2026-09-15 08:05:03 [INFO] Sonar temporal segment pruning (window 3): removed 3 segments, 38 points
2026-09-15 08:05:03 [INFO] Writing sonar track file...
2026-09-15 08:05:04 [INFO] Writing sonar PTD files...
2026-09-15 08:05:06 [INFO] Sonicer took 44.060609557s