+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/b5e78cd0-870a-49fe-a261-60ab695c9636/processing/data/sonar_raw.track.cbor
2026-09-18 06:59:28 [INFO] Sonicer 0.0.3
2026-09-18 06:59:29 [INFO] Recording GUID: b5e78cd0-870a-49fe-a261-60ab695c9636
2026-09-18 06:59:29 [INFO] Prepared data will be output to /working/b5e78cd0-870a-49fe-a261-60ab695c9636/processing/data
2026-09-18 06:59:29 [INFO] Digitizing sonar data...
2026-09-18 06:59:29 [INFO] Using sonar digitizer
2026-09-18 06:59:29 [INFO] Sensor speed of sound is 1500 m/s
2026-09-18 06:59:29 [INFO] Sensor range is 2.100000 m
2026-09-18 06:59:29 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-18 06:59:29 [INFO] Scaled micrometres per sample is 2615.354911
2026-09-18 06:59:30 [INFO] Digitized sonar frames: 25% (103/404)
2026-09-18 06:59:31 [INFO] Digitized sonar frames: 58% (238/404)
2026-09-18 06:59:32 [INFO] Digitized sonar frames: 90% (367/404)
2026-09-18 06:59:32 [INFO] Digitized 404 snapshot scans
2026-09-18 06:59:32 [INFO] Applying sonar temporal consistency...
2026-09-18 06:59:33 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 4 structures, 83 points
2026-09-18 06:59:33 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-18 06:59:34 [INFO] Sonar temporal gap fill (window 2): 70301 points, 1989 candidate beams, filled 1126
2026-09-18 06:59:34 [INFO] Sonar temporal radial outliers: removed 53 of 71427 points
2026-09-18 06:59:34 [INFO] Sonar temporal segment pruning (window 3): removed 4 segments, 75 points
2026-09-18 06:59:34 [INFO] Writing sonar track file...
2026-09-18 06:59:34 [INFO] Writing sonar PTD files...
2026-09-18 06:59:34 [INFO] Sonicer took 5.966301632s