+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/d0501d74-2e9e-4b30-a397-4fa98d28b2ac/processing/data/sonar_raw.track.cbor
2026-09-15 10:28:00 [INFO] Sonicer 0.0.3
2026-09-15 10:28:10 [INFO] Recording GUID: d0501d74-2e9e-4b30-a397-4fa98d28b2ac
2026-09-15 10:28:10 [INFO] Prepared data will be output to /working/d0501d74-2e9e-4b30-a397-4fa98d28b2ac/processing/data
2026-09-15 10:28:10 [INFO] Digitizing sonar data...
2026-09-15 10:28:10 [INFO] Using sonar digitizer
2026-09-15 10:28:10 [INFO] Sensor speed of sound is 1500 m/s
2026-09-15 10:28:10 [INFO] Sensor range is 3.000000 m
2026-09-15 10:28:10 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-15 10:28:10 [INFO] Scaled micrometres per sample is 3736.221472
2026-09-15 10:28:13 [INFO] Digitized sonar frames: 10% (465/4646)
2026-09-15 10:28:16 [INFO] Digitized sonar frames: 20% (930/4646)
2026-09-15 10:28:20 [INFO] Digitized sonar frames: 30% (1394/4646)
2026-09-15 10:28:23 [INFO] Digitized sonar frames: 40% (1859/4646)
2026-09-15 10:28:26 [INFO] Digitized sonar frames: 50% (2323/4646)
2026-09-15 10:28:29 [INFO] Digitized sonar frames: 60% (2788/4646)
2026-09-15 10:28:33 [INFO] Digitized sonar frames: 70% (3253/4646)
2026-09-15 10:28:36 [INFO] Digitized sonar frames: 80% (3717/4646)
2026-09-15 10:28:39 [INFO] Digitized sonar frames: 90% (4182/4646)
2026-09-15 10:28:42 [INFO] Digitized sonar frames: 100% (4646/4646)
2026-09-15 10:28:42 [INFO] Digitized 4646 snapshot scans
2026-09-15 10:28:42 [INFO] Applying sonar temporal consistency...
2026-09-15 10:28:48 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-15 10:28:49 [INFO] Temporal gap fill: 18% (856/4646)
2026-09-15 10:28:50 [INFO] Temporal gap fill: 36% (1699/4646)
2026-09-15 10:28:51 [INFO] Temporal gap fill: 54% (2554/4646)
2026-09-15 10:28:52 [INFO] Temporal gap fill: 73% (3410/4646)
2026-09-15 10:28:53 [INFO] Temporal gap fill: 91% (4264/4646)
2026-09-15 10:28:53 [INFO] Sonar temporal gap fill (window 2): 726317 points, 7362 candidate beams, filled 3781
2026-09-15 10:28:54 [INFO] Sonar temporal radial outliers: removed 123 of 730098 points
2026-09-15 10:28:54 [INFO] Sonar temporal segment pruning (window 3): removed 27 segments, 353 points
2026-09-15 10:28:54 [INFO] Writing sonar track file...
2026-09-15 10:28:54 [INFO] Writing sonar PTD files...
2026-09-15 10:28:57 [INFO] Sonicer took 57.187663359s