+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/980f90ea-4f5e-47fb-bef9-f4361de325f0/processing/data/sonar_raw.track.cbor
2026-09-15 09:32:19 [INFO] Sonicer 0.0.3
2026-09-15 09:32:23 [INFO] Recording GUID: 980f90ea-4f5e-47fb-bef9-f4361de325f0
2026-09-15 09:32:23 [INFO] Prepared data will be output to /working/980f90ea-4f5e-47fb-bef9-f4361de325f0/processing/data
2026-09-15 09:32:23 [INFO] Digitizing sonar data...
2026-09-15 09:32:23 [INFO] Using sonar digitizer
2026-09-15 09:32:23 [INFO] Sensor speed of sound is 1500 m/s
2026-09-15 09:32:23 [INFO] Sensor range is 3.000000 m
2026-09-15 09:32:23 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-15 09:32:23 [INFO] Scaled micrometres per sample is 3736.221472
2026-09-15 09:32:24 [INFO] Digitized sonar frames: 10% (173/1723)
2026-09-15 09:32:25 [INFO] Digitized sonar frames: 20% (345/1723)
2026-09-15 09:32:27 [INFO] Digitized sonar frames: 30% (517/1723)
2026-09-15 09:32:28 [INFO] Digitized sonar frames: 40% (690/1723)
2026-09-15 09:32:29 [INFO] Digitized sonar frames: 50% (862/1723)
2026-09-15 09:32:30 [INFO] Digitized sonar frames: 60% (1034/1723)
2026-09-15 09:32:32 [INFO] Digitized sonar frames: 70% (1207/1723)
2026-09-15 09:32:33 [INFO] Digitized sonar frames: 80% (1379/1723)
2026-09-15 09:32:34 [INFO] Digitized sonar frames: 90% (1551/1723)
2026-09-15 09:32:36 [INFO] Digitized sonar frames: 100% (1723/1723)
2026-09-15 09:32:36 [INFO] Digitized 1723 snapshot scans
2026-09-15 09:32:36 [INFO] Applying sonar temporal consistency...
2026-09-15 09:32:38 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-15 09:32:39 [INFO] Temporal gap fill: 47% (827/1723)
2026-09-15 09:32:40 [INFO] Temporal gap fill: 96% (1659/1723)
2026-09-15 09:32:40 [INFO] Sonar temporal gap fill (window 2): 255616 points, 2906 candidate beams, filled 1381
2026-09-15 09:32:40 [INFO] Sonar temporal radial outliers: removed 21 of 256997 points
2026-09-15 09:32:40 [INFO] Sonar temporal segment pruning (window 3): removed 4 segments, 42 points
2026-09-15 09:32:40 [INFO] Writing sonar track file...
2026-09-15 09:32:40 [INFO] Writing sonar PTD files...
2026-09-15 09:32:41 [INFO] Sonicer took 22.185784881s