+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/035f4c62-adef-46b1-830d-305987fb65a8/processing/data/sonar_raw.track.cbor
2026-09-18 08:13:31 [INFO] Sonicer 0.0.3
2026-09-18 08:13:35 [INFO] Recording GUID: 035f4c62-adef-46b1-830d-305987fb65a8
2026-09-18 08:13:35 [INFO] Prepared data will be output to /working/035f4c62-adef-46b1-830d-305987fb65a8/processing/data
2026-09-18 08:13:35 [INFO] Digitizing sonar data...
2026-09-18 08:13:35 [INFO] Using sonar digitizer
2026-09-18 08:13:35 [INFO] Sensor speed of sound is 1500 m/s
2026-09-18 08:13:35 [INFO] Sensor range is 2.100000 m
2026-09-18 08:13:35 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-18 08:13:35 [INFO] Scaled micrometres per sample is 2615.354911
2026-09-18 08:13:36 [INFO] Digitized sonar frames: 10% (149/1485)
2026-09-18 08:13:37 [INFO] Digitized sonar frames: 20% (297/1485)
2026-09-18 08:13:38 [INFO] Digitized sonar frames: 30% (446/1485)
2026-09-18 08:13:39 [INFO] Digitized sonar frames: 40% (594/1485)
2026-09-18 08:13:40 [INFO] Digitized sonar frames: 50% (743/1485)
2026-09-18 08:13:42 [INFO] Digitized sonar frames: 60% (891/1485)
2026-09-18 08:13:43 [INFO] Digitized sonar frames: 70% (1040/1485)
2026-09-18 08:13:44 [INFO] Digitized sonar frames: 80% (1188/1485)
2026-09-18 08:13:45 [INFO] Digitized sonar frames: 90% (1337/1485)
2026-09-18 08:13:46 [INFO] Digitized 1485 snapshot scans
2026-09-18 08:13:46 [INFO] Applying sonar temporal consistency...
2026-09-18 08:13:48 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-18 08:13:49 [INFO] Temporal gap fill: 55% (831/1485)
2026-09-18 08:13:50 [INFO] Sonar temporal gap fill (window 2): 257381 points, 7302 candidate beams, filled 4069
2026-09-18 08:13:50 [INFO] Sonar temporal radial outliers: removed 717 of 261450 points
2026-09-18 08:13:50 [INFO] Sonar temporal segment pruning (window 3): removed 14 segments, 228 points
2026-09-18 08:13:50 [INFO] Writing sonar track file...
2026-09-18 08:13:50 [INFO] Writing sonar PTD files...
2026-09-18 08:13:51 [INFO] Sonicer took 19.753472494s