+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/147f35c2-e722-43df-82a4-3e74cac3b3d7/processing/data/sonar_raw.track.cbor
2026-10-23 00:37:02 [INFO] Sonicer 0.0.3
2026-10-23 00:37:03 [INFO] Recording GUID: 147f35c2-e722-43df-82a4-3e74cac3b3d7
2026-10-23 00:37:03 [INFO] Prepared data will be output to /working/147f35c2-e722-43df-82a4-3e74cac3b3d7/processing/data
2026-10-23 00:37:03 [INFO] Digitizing sonar data...
2026-10-23 00:37:03 [INFO] Using sonar digitizer
2026-10-23 00:37:03 [INFO] Sensor speed of sound is 1500 m/s
2026-10-23 00:37:03 [INFO] Sensor range is 3.048000 m
2026-10-23 00:37:03 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-10-23 00:37:03 [INFO] Scaled micrometres per sample is 3796.001136
2026-10-23 00:37:05 [INFO] Digitized sonar frames: 13% (89/675)
2026-10-23 00:37:06 [INFO] Digitized sonar frames: 30% (203/675)
2026-10-23 00:37:07 [INFO] Digitized sonar frames: 41% (281/675)
2026-10-23 00:37:08 [INFO] Digitized sonar frames: 52% (355/675)
2026-10-23 00:37:09 [INFO] Digitized sonar frames: 61% (416/675)
2026-10-23 00:37:10 [INFO] Digitized sonar frames: 70% (477/675)
2026-10-23 00:37:11 [INFO] Digitized sonar frames: 80% (541/675)
2026-10-23 00:37:12 [INFO] Digitized sonar frames: 90% (608/675)
2026-10-23 00:37:13 [INFO] Digitized sonar frames: 100% (675/675)
2026-10-23 00:37:13 [INFO] Digitized 675 snapshot scans
2026-10-23 00:37:13 [INFO] Applying sonar temporal consistency...
2026-10-23 00:37:14 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-10-23 00:37:15 [INFO] Sonar temporal gap fill (window 2): 120631 points, 3802 candidate beams, filled 1030
2026-10-23 00:37:15 [INFO] Sonar temporal radial outliers: removed 16 of 121661 points
2026-10-23 00:37:15 [INFO] Sonar temporal segment pruning (window 3): removed 24 segments, 238 points
2026-10-23 00:37:15 [INFO] Writing sonar track file...
2026-10-23 00:37:15 [INFO] Writing sonar PTD files...
2026-10-23 00:37:15 [INFO] Sonicer took 13.049396023s