+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/1bb993a0-b93c-4aa5-8124-5a5908af378b/processing/data/sonar_raw.track.cbor
2026-09-15 11:37:45 [INFO] Sonicer 0.0.3
2026-09-15 11:37:58 [INFO] Recording GUID: 1bb993a0-b93c-4aa5-8124-5a5908af378b
2026-09-15 11:37:58 [INFO] Prepared data will be output to /working/1bb993a0-b93c-4aa5-8124-5a5908af378b/processing/data
2026-09-15 11:37:58 [INFO] Digitizing sonar data...
2026-09-15 11:37:58 [INFO] Using sonar digitizer
2026-09-15 11:37:58 [INFO] Sensor speed of sound is 1500 m/s
2026-09-15 11:37:58 [INFO] Sensor range is 3.000000 m
2026-09-15 11:37:58 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-15 11:37:58 [INFO] Scaled micrometres per sample is 3736.221472
2026-09-15 11:38:05 [INFO] Digitized sonar frames: 10% (454/4531)
2026-09-15 11:38:12 [INFO] Digitized sonar frames: 20% (907/4531)
2026-09-15 11:38:18 [INFO] Digitized sonar frames: 30% (1360/4531)
2026-09-15 11:38:25 [INFO] Digitized sonar frames: 40% (1813/4531)
2026-09-15 11:38:32 [INFO] Digitized sonar frames: 50% (2266/4531)
2026-09-15 11:38:39 [INFO] Digitized sonar frames: 60% (2719/4531)
2026-09-15 11:38:46 [INFO] Digitized sonar frames: 70% (3172/4531)
2026-09-15 11:38:52 [INFO] Digitized sonar frames: 80% (3625/4531)
2026-09-15 11:38:59 [INFO] Digitized sonar frames: 90% (4078/4531)
2026-09-15 11:39:05 [INFO] Digitized sonar frames: 100% (4531/4531)
2026-09-15 11:39:05 [INFO] Digitized 4531 snapshot scans
2026-09-15 11:39:05 [INFO] Applying sonar temporal consistency...
2026-09-15 11:39:12 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-15 11:39:13 [INFO] Temporal gap fill: 16% (750/4531)
2026-09-15 11:39:14 [INFO] Temporal gap fill: 32% (1458/4531)
2026-09-15 11:39:15 [INFO] Temporal gap fill: 47% (2132/4531)
2026-09-15 11:39:16 [INFO] Temporal gap fill: 64% (2937/4531)
2026-09-15 11:39:17 [INFO] Temporal gap fill: 79% (3591/4531)
2026-09-15 11:39:18 [INFO] Temporal gap fill: 96% (4359/4531)
2026-09-15 11:39:18 [INFO] Sonar temporal gap fill (window 2): 686282 points, 45178 candidate beams, filled 34887
2026-09-15 11:39:19 [INFO] Sonar temporal radial outliers: removed 518 of 721169 points
2026-09-15 11:39:19 [INFO] Sonar temporal segment pruning (window 3): removed 94 segments, 1678 points
2026-09-15 11:39:19 [INFO] Writing sonar track file...
2026-09-15 11:39:19 [INFO] Writing sonar PTD files...
2026-09-15 11:39:22 [INFO] Sonicer took 1m36.72803289s