+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/3f9b6b3a-5565-4a95-ad6b-698c222d1bf0/processing/data/sonar_raw.track.cbor
2026-10-06 06:20:08 [INFO] Sonicer 0.0.3
2026-10-06 06:20:09 [INFO] Recording GUID: 3f9b6b3a-5565-4a95-ad6b-698c222d1bf0
2026-10-06 06:20:09 [INFO] Prepared data will be output to /working/3f9b6b3a-5565-4a95-ad6b-698c222d1bf0/processing/data
2026-10-06 06:20:09 [INFO] Digitizing sonar data...
2026-10-06 06:20:09 [INFO] Using sonar digitizer
2026-10-06 06:20:09 [INFO] Sensor speed of sound is 1500 m/s
2026-10-06 06:20:09 [INFO] Sensor range is 3.048000 m
2026-10-06 06:20:09 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-10-06 06:20:09 [INFO] Scaled micrometres per sample is 3796.001136
2026-10-06 06:20:10 [INFO] Digitized sonar frames: 12% (73/585)
2026-10-06 06:20:12 [INFO] Digitized sonar frames: 30% (177/585)
2026-10-06 06:20:13 [INFO] Digitized sonar frames: 48% (282/585)
2026-10-06 06:20:14 [INFO] Digitized sonar frames: 65% (386/585)
2026-10-06 06:20:15 [INFO] Digitized sonar frames: 84% (493/585)
2026-10-06 06:20:15 [INFO] Digitized 585 snapshot scans
2026-10-06 06:20:15 [INFO] Applying sonar temporal consistency...
2026-10-06 06:20:16 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-10-06 06:20:17 [INFO] Sonar temporal gap fill (window 2): 111675 points, 1457 candidate beams, filled 503
2026-10-06 06:20:17 [INFO] Sonar temporal radial outliers: removed 0 of 112178 points
2026-10-06 06:20:17 [INFO] Sonar temporal segment pruning (window 3): removed 19 segments, 232 points
2026-10-06 06:20:17 [INFO] Writing sonar track file...
2026-10-06 06:20:17 [INFO] Writing sonar PTD files...
2026-10-06 06:20:17 [INFO] Sonicer took 9.141664921s