+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/f494bc02-0607-4301-8454-e01fe948f087/processing/data/sonar_raw.track.cbor
2026-10-06 12:50:45 [INFO] Sonicer 0.0.3
2026-10-06 12:50:52 [INFO] Recording GUID: f494bc02-0607-4301-8454-e01fe948f087
2026-10-06 12:50:52 [INFO] Prepared data will be output to /working/f494bc02-0607-4301-8454-e01fe948f087/processing/data
2026-10-06 12:50:52 [INFO] Digitizing sonar data...
2026-10-06 12:50:52 [INFO] Using sonar digitizer
2026-10-06 12:50:52 [INFO] Sensor speed of sound is 1500 m/s
2026-10-06 12:50:52 [INFO] Sensor range is 3.048000 m
2026-10-06 12:50:52 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-10-06 12:50:52 [INFO] Scaled micrometres per sample is 3796.001136
2026-10-06 12:50:54 [INFO] Digitized sonar frames: 10% (287/2864)
2026-10-06 12:50:55 [INFO] Digitized sonar frames: 20% (573/2864)
2026-10-06 12:50:57 [INFO] Digitized sonar frames: 30% (860/2864)
2026-10-06 12:50:59 [INFO] Digitized sonar frames: 40% (1146/2864)
2026-10-06 12:51:01 [INFO] Digitized sonar frames: 50% (1432/2864)
2026-10-06 12:51:03 [INFO] Digitized sonar frames: 60% (1719/2864)
2026-10-06 12:51:05 [INFO] Digitized sonar frames: 70% (2005/2864)
2026-10-06 12:51:07 [INFO] Digitized sonar frames: 80% (2292/2864)
2026-10-06 12:51:09 [INFO] Digitized sonar frames: 90% (2578/2864)
2026-10-06 12:51:11 [INFO] Digitized sonar frames: 100% (2864/2864)
2026-10-06 12:51:11 [INFO] Digitized 2864 snapshot scans
2026-10-06 12:51:11 [INFO] Applying sonar temporal consistency...
2026-10-06 12:51:14 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 2 structures, 81 points
2026-10-06 12:51:17 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-10-06 12:51:18 [INFO] Temporal gap fill: 30% (872/2864)
2026-10-06 12:51:19 [INFO] Temporal gap fill: 60% (1726/2864)
2026-10-06 12:51:20 [INFO] Temporal gap fill: 89% (2577/2864)
2026-10-06 12:51:20 [INFO] Sonar temporal gap fill (window 2): 243476 points, 16566 candidate beams, filled 7793
2026-10-06 12:51:21 [INFO] Sonar temporal radial outliers: removed 302 of 251269 points
2026-10-06 12:51:21 [INFO] Sonar temporal segment pruning (window 3): removed 208 segments, 4061 points
2026-10-06 12:51:21 [INFO] Writing sonar track file...
2026-10-06 12:51:21 [INFO] Writing sonar PTD files...
2026-10-06 12:51:22 [INFO] Sonicer took 36.253925889s