+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/7ce822c6-814c-4a4f-be5e-ec901f4ddba8/processing/data/sonar_raw.track.cbor
2026-09-23 07:21:54 [INFO] Sonicer 0.0.3
2026-09-23 07:21:56 [INFO] Recording GUID: 7ce822c6-814c-4a4f-be5e-ec901f4ddba8
2026-09-23 07:21:56 [INFO] Prepared data will be output to /working/7ce822c6-814c-4a4f-be5e-ec901f4ddba8/processing/data
2026-09-23 07:21:56 [INFO] Digitizing sonar data...
2026-09-23 07:21:56 [INFO] Using sonar digitizer
2026-09-23 07:21:56 [INFO] Sensor speed of sound is 1500 m/s
2026-09-23 07:21:56 [INFO] Sensor range is 2.100000 m
2026-09-23 07:21:56 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-23 07:21:56 [INFO] Scaled micrometres per sample is 2615.354911
2026-09-23 07:21:57 [INFO] Digitized sonar frames: 10% (70/674)
2026-09-23 07:21:58 [INFO] Digitized sonar frames: 26% (177/674)
2026-09-23 07:21:59 [INFO] Digitized sonar frames: 42% (285/674)
2026-09-23 07:22:00 [INFO] Digitized sonar frames: 58% (396/674)
2026-09-23 07:22:01 [INFO] Digitized sonar frames: 73% (498/674)
2026-09-23 07:22:02 [INFO] Digitized sonar frames: 89% (604/674)
2026-09-23 07:22:02 [INFO] Digitized 674 snapshot scans
2026-09-23 07:22:02 [INFO] Applying sonar temporal consistency...
2026-09-23 07:22:03 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-23 07:22:04 [INFO] Sonar temporal gap fill (window 2): 109768 points, 1432 candidate beams, filled 651
2026-09-23 07:22:04 [INFO] Sonar temporal radial outliers: removed 5 of 110419 points
2026-09-23 07:22:04 [INFO] Sonar temporal segment pruning (window 3): removed 2 segments, 39 points
2026-09-23 07:22:04 [INFO] Writing sonar track file...
2026-09-23 07:22:04 [INFO] Writing sonar PTD files...
2026-09-23 07:22:05 [INFO] Sonicer took 10.399959041s