+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/8413e641-da62-4ee8-950b-0970645c0faa/processing/data/sonar_raw.track.cbor
2026-09-23 07:13:08 [INFO] Sonicer 0.0.3
2026-09-23 07:13:11 [INFO] Recording GUID: 8413e641-da62-4ee8-950b-0970645c0faa
2026-09-23 07:13:11 [INFO] Prepared data will be output to /working/8413e641-da62-4ee8-950b-0970645c0faa/processing/data
2026-09-23 07:13:11 [INFO] Digitizing sonar data...
2026-09-23 07:13:11 [INFO] Using sonar digitizer
2026-09-23 07:13:11 [INFO] Sensor speed of sound is 1500 m/s
2026-09-23 07:13:11 [INFO] Sensor range is 2.100000 m
2026-09-23 07:13:11 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-23 07:13:11 [INFO] Scaled micrometres per sample is 2615.354911
2026-09-23 07:13:12 [INFO] Digitized sonar frames: 11% (127/1136)
2026-09-23 07:13:13 [INFO] Digitized sonar frames: 24% (276/1136)
2026-09-23 07:13:14 [INFO] Digitized sonar frames: 37% (423/1136)
2026-09-23 07:13:15 [INFO] Digitized sonar frames: 50% (568/1136)
2026-09-23 07:13:16 [INFO] Digitized sonar frames: 62% (711/1136)
2026-09-23 07:13:17 [INFO] Digitized sonar frames: 76% (870/1136)
2026-09-23 07:13:18 [INFO] Digitized sonar frames: 89% (1016/1136)
2026-09-23 07:13:19 [INFO] Digitized 1136 snapshot scans
2026-09-23 07:13:19 [INFO] Applying sonar temporal consistency...
2026-09-23 07:13:20 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-23 07:13:21 [INFO] Temporal gap fill: 74% (851/1136)
2026-09-23 07:13:22 [INFO] Sonar temporal gap fill (window 2): 192547 points, 3260 candidate beams, filled 1500
2026-09-23 07:13:22 [INFO] Sonar temporal radial outliers: removed 57 of 194047 points
2026-09-23 07:13:22 [INFO] Sonar temporal segment pruning (window 3): removed 9 segments, 225 points
2026-09-23 07:13:22 [INFO] Writing sonar track file...
2026-09-23 07:13:22 [INFO] Writing sonar PTD files...
2026-09-23 07:13:23 [INFO] Sonicer took 14.235197876s