+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/f5acc616-9321-46a2-8bd9-0c033280204e/processing/data/sonar_raw.track.cbor
2026-09-15 08:52:05 [INFO] Sonicer 0.0.3
2026-09-15 08:52:09 [INFO] Recording GUID: f5acc616-9321-46a2-8bd9-0c033280204e
2026-09-15 08:52:09 [INFO] Prepared data will be output to /working/f5acc616-9321-46a2-8bd9-0c033280204e/processing/data
2026-09-15 08:52:09 [INFO] Digitizing sonar data...
2026-09-15 08:52:09 [INFO] Using sonar digitizer
2026-09-15 08:52:09 [INFO] Sensor speed of sound is 1500 m/s
2026-09-15 08:52:09 [INFO] Sensor range is 3.500000 m
2026-09-15 08:52:09 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-15 08:52:09 [INFO] Scaled micrometres per sample is 4358.925050
2026-09-15 08:52:11 [INFO] Digitized sonar frames: 10% (195/1949)
2026-09-15 08:52:13 [INFO] Digitized sonar frames: 20% (390/1949)
2026-09-15 08:52:14 [INFO] Digitized sonar frames: 30% (585/1949)
2026-09-15 08:52:16 [INFO] Digitized sonar frames: 40% (780/1949)
2026-09-15 08:52:17 [INFO] Digitized sonar frames: 50% (975/1949)
2026-09-15 08:52:19 [INFO] Digitized sonar frames: 60% (1170/1949)
2026-09-15 08:52:20 [INFO] Digitized sonar frames: 70% (1365/1949)
2026-09-15 08:52:22 [INFO] Digitized sonar frames: 80% (1560/1949)
2026-09-15 08:52:24 [INFO] Digitized sonar frames: 90% (1755/1949)
2026-09-15 08:52:25 [INFO] Digitized sonar frames: 100% (1949/1949)
2026-09-15 08:52:25 [INFO] Digitized 1949 snapshot scans
2026-09-15 08:52:25 [INFO] Applying sonar temporal consistency...
2026-09-15 08:52:28 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 1 structures, 8 points
2026-09-15 08:52:30 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-15 08:52:31 [INFO] Temporal gap fill: 43% (840/1949)
2026-09-15 08:52:32 [INFO] Temporal gap fill: 87% (1696/1949)
2026-09-15 08:52:32 [INFO] Sonar temporal gap fill (window 2): 312810 points, 3483 candidate beams, filled 2043
2026-09-15 08:52:33 [INFO] Sonar temporal radial outliers: removed 79 of 314853 points
2026-09-15 08:52:33 [INFO] Sonar temporal segment pruning (window 3): removed 8 segments, 107 points
2026-09-15 08:52:33 [INFO] Writing sonar track file...
2026-09-15 08:52:33 [INFO] Writing sonar PTD files...
2026-09-15 08:52:34 [INFO] Sonicer took 29.104942032s