+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/61c8a180-d15f-4b3a-a76e-886bcfc1aec6/processing/data/sonar_raw.track.cbor
2026-09-24 01:17:55 [INFO] Sonicer 0.0.3
2026-09-24 01:17:56 [INFO] Recording GUID: 61c8a180-d15f-4b3a-a76e-886bcfc1aec6
2026-09-24 01:17:56 [INFO] Prepared data will be output to /working/61c8a180-d15f-4b3a-a76e-886bcfc1aec6/processing/data
2026-09-24 01:17:56 [INFO] Digitizing sonar data...
2026-09-24 01:17:56 [INFO] Using sonar digitizer
2026-09-24 01:17:56 [INFO] Sensor speed of sound is 1500 m/s
2026-09-24 01:17:56 [INFO] Sensor range is 2.100000 m
2026-09-24 01:17:56 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-24 01:17:56 [INFO] Scaled micrometres per sample is 2615.354911
2026-09-24 01:17:57 [INFO] Digitized sonar frames: 22% (125/560)
2026-09-24 01:17:58 [INFO] Digitized sonar frames: 45% (256/560)
2026-09-24 01:17:59 [INFO] Digitized sonar frames: 69% (390/560)
2026-09-24 01:18:00 [INFO] Digitized sonar frames: 90% (507/560)
2026-09-24 01:18:01 [INFO] Digitized 560 snapshot scans
2026-09-24 01:18:01 [INFO] Applying sonar temporal consistency...
2026-09-24 01:18:01 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 5 structures, 167 points
2026-09-24 01:18:02 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-24 01:18:03 [INFO] Sonar temporal gap fill (window 2): 85537 points, 1955 candidate beams, filled 957
2026-09-24 01:18:03 [INFO] Sonar temporal radial outliers: removed 159 of 86494 points
2026-09-24 01:18:03 [INFO] Sonar temporal segment pruning (window 3): removed 29 segments, 514 points
2026-09-24 01:18:03 [INFO] Writing sonar track file...
2026-09-24 01:18:03 [INFO] Writing sonar PTD files...
2026-09-24 01:18:03 [INFO] Sonicer took 8.053003351s