+ '[' md '=' md ]
+ echo '--sample-offset -1'
+ '[' md '=' smd ]
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 --sample-offset -1 /working/6f1c824d-cbdc-442b-b33d-def2e6cc90fe/processing/data/sonar_raw.track.cbor
2026-09-18 20:21:54 [INFO] Sonicer 0.0.3
2026-09-18 20:21:55 [INFO] Recording GUID: 6f1c824d-cbdc-442b-b33d-def2e6cc90fe
2026-09-18 20:21:55 [INFO] Prepared data will be output to /working/6f1c824d-cbdc-442b-b33d-def2e6cc90fe/processing/data
2026-09-18 20:21:55 [INFO] Digitizing sonar data...
2026-09-18 20:21:55 [INFO] Using sonar digitizer
2026-09-18 20:21:55 [INFO] Sensor speed of sound is 1500 m/s
2026-09-18 20:21:55 [INFO] Sensor range is 0.939120 m
2026-09-18 20:21:55 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-18 20:21:55 [INFO] Scaled micrometres per sample is 3108.536247
2026-09-18 20:21:56 [INFO] Digitized sonar frames: 13% (74/531)
2026-09-18 20:21:57 [INFO] Digitized sonar frames: 40% (217/531)
2026-09-18 20:21:58 [INFO] Digitized sonar frames: 68% (362/531)
2026-09-18 20:21:59 [INFO] Digitized sonar frames: 96% (512/531)
2026-09-18 20:21:59 [INFO] Digitized 531 snapshot scans
2026-09-18 20:21:59 [INFO] Applying sonar temporal consistency...
2026-09-18 20:21:59 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 51 structures, 1565 points
2026-09-18 20:22:00 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-18 20:22:00 [INFO] Sonar temporal gap fill (window 2): 123909 points, 8222 candidate beams, filled 6636
2026-09-18 20:22:00 [INFO] Sonar temporal radial outliers: removed 5136 of 130545 points
2026-09-18 20:22:00 [INFO] Sonar temporal segment pruning (window 3): removed 7 segments, 75 points
2026-09-18 20:22:00 [INFO] Writing sonar track file...
2026-09-18 20:22:00 [INFO] Writing sonar PTD files...
2026-09-18 20:22:01 [INFO] Sonicer took 6.503547454s