+ '[' md '=' md ]
+ echo '--sample-offset -1'
+ '[' md '=' smd ]
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 --sample-offset -1 /working/fe0cb9b9-8214-4170-9fde-3b223cf0df8b/processing/data/sonar_raw.track.cbor
2026-09-15 14:31:39 [INFO] Sonicer 0.0.3
2026-09-15 14:31:40 [INFO] Recording GUID: fe0cb9b9-8214-4170-9fde-3b223cf0df8b
2026-09-15 14:31:40 [INFO] Prepared data will be output to /working/fe0cb9b9-8214-4170-9fde-3b223cf0df8b/processing/data
2026-09-15 14:31:40 [INFO] Digitizing sonar data...
2026-09-15 14:31:40 [INFO] Using sonar digitizer
2026-09-15 14:31:40 [INFO] Sensor speed of sound is 1500 m/s
2026-09-15 14:31:40 [INFO] Sensor range is 0.939120 m
2026-09-15 14:31:40 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-15 14:31:40 [INFO] Scaled micrometres per sample is 3108.536247
2026-09-15 14:31:41 [INFO] Digitized sonar frames: 21% (90/418)
2026-09-15 14:31:42 [INFO] Digitized sonar frames: 56% (237/418)
2026-09-15 14:31:43 [INFO] Digitized sonar frames: 90% (379/418)
2026-09-15 14:31:43 [INFO] Digitized 418 snapshot scans
2026-09-15 14:31:43 [INFO] Applying sonar temporal consistency...
2026-09-15 14:31:43 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 8 structures, 210 points
2026-09-15 14:31:43 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-15 14:31:44 [INFO] Sonar temporal gap fill (window 2): 101206 points, 2709 candidate beams, filled 1783
2026-09-15 14:31:44 [INFO] Sonar temporal radial outliers: removed 281 of 102989 points
2026-09-15 14:31:44 [INFO] Sonar temporal segment pruning (window 3): removed 12 segments, 152 points
2026-09-15 14:31:44 [INFO] Writing sonar track file...
2026-09-15 14:31:44 [INFO] Writing sonar PTD files...
2026-09-15 14:31:44 [INFO] Sonicer took 5.440770692s