+ '[' md '=' md ]
+ echo '--sample-offset -1'
+ '[' md '=' smd ]
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 --sample-offset -1 /working/b6dc707f-f206-40e3-b7b6-9bdc0839e54d/processing/data/sonar_raw.track.cbor
2026-09-18 20:38:50 [INFO] Sonicer 0.0.3
2026-09-18 20:38:50 [INFO] Recording GUID: b6dc707f-f206-40e3-b7b6-9bdc0839e54d
2026-09-18 20:38:50 [INFO] Prepared data will be output to /working/b6dc707f-f206-40e3-b7b6-9bdc0839e54d/processing/data
2026-09-18 20:38:50 [INFO] Digitizing sonar data...
2026-09-18 20:38:50 [INFO] Using sonar digitizer
2026-09-18 20:38:50 [INFO] Sensor speed of sound is 1500 m/s
2026-09-18 20:38:50 [INFO] Sensor range is 0.939120 m
2026-09-18 20:38:50 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-18 20:38:50 [INFO] Scaled micrometres per sample is 3108.536247
2026-09-18 20:38:51 [INFO] Digitized sonar frames: 34% (223/652)
2026-09-18 20:38:52 [INFO] Digitized sonar frames: 73% (478/652)
2026-09-18 20:38:53 [INFO] Digitized 652 snapshot scans
2026-09-18 20:38:53 [INFO] Applying sonar temporal consistency...
2026-09-18 20:38:53 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 40 structures, 1256 points
2026-09-18 20:38:54 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-18 20:38:54 [INFO] Sonar temporal gap fill (window 2): 155042 points, 7562 candidate beams, filled 5861
2026-09-18 20:38:54 [INFO] Sonar temporal radial outliers: removed 2704 of 160903 points
2026-09-18 20:38:54 [INFO] Sonar temporal segment pruning (window 3): removed 20 segments, 497 points
2026-09-18 20:38:54 [INFO] Writing sonar track file...
2026-09-18 20:38:54 [INFO] Writing sonar PTD files...
2026-09-18 20:38:55 [INFO] Sonicer took 5.114473956s